PSO-based motion fuzzy controller design for mobile robots

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 期刊論文 > Item 987654321/60936

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題名:	PSO-based motion fuzzy controller design for mobile robots
作者:	翁慶昌;Wong, Ching-chang;Wang, H.Y.;Li, S.A.
貢獻者:	淡江大學電機工程學系
關鍵詞:	particle swarm optimization (PSO) algorithm;fitness function;fuzzy control;mobile robot
日期:	2008-03
上傳時間:	2011-10-15 01:07:12 (UTC+8)
出版者:	Taipei: Chinese Fuzzy Systems Association
摘要:	A motion control structure with a distance fuzzy controller and an angle fuzzy controller is proposed to determine velocities of the left-wheeled motor and right-wheeled motor of the two-wheeled mobile robot. A PSO-based method is proposed to automatically determine appropriate membership functions of these two fuzzy systems so that the controlled robot can move to any desired position effectively in a two-dimensional space. A ratio coefficient coding method and a variable fitness function are considered in the proposed PSO-based fuzzy controller design method so that the proposed PSO-based method with a good searching efficiency and the selected fuzzy controller with a good control performance.
關聯:	International Journal of Fuzzy Systems 10(1), pp.284-292
顯示於類別:	[電機工程學系暨研究所] 期刊論文

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