Naslov
Design of fuzzy logic based mobile robot position controller using genetic algorithm

Autori
Lacevic, Bakir ; Velagic, Jasmin ; Osmic, Nedim

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on / - , 2007, 1-6

ISBN
978-1-4244-1263-1

Skup
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on

Mjesto i datum
Zürich, Švicarska, 04.09.2007. - 07.09.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Algorithm design and analysis, Fuzzy logic, Mobile robots, Robot control, Genetic algorithms, Fuzzy control, Torque control, Trajectory, Angular velocity, Backstepping

Sažetak
This paper develops a fuzzy logic position controller which membership functions are tuned by genetic algorithm. The main goals are to ensure both successfully velocity and position trajectories tracking between the mobile robot and the reference cart. The proposed fuzzy controller has two inputs and two outputs. The first input represents the distance between the mobile robot and the reference cart. The second input is the angle formed by the straight line defined with the orientation of the robot, and the straight line that connects the robot with the reference cart. Outputs represent linear and angular velocity inputs, respectively. The performance of the fuzzy controller is investigated through comparison with previously developed a mobile robot position controller based on backstepping control algorithm. Simulation results obtained the good quality of both position tracking and torque capabilities with the proposed fuzzy controller. Also, sufficient improvement of torques reduction is achieved in the case of fuzzy controller.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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