Adaptive fuzzy controller design for trajectory tracking of a 2 DOF wheeled mobile robot using genetic algorithm

We deal with the design of a WMR's fuzzy controller for trajectory tracking. The fuzzy controller uses a genetic algorithm to optimize membership function and reorganize the term set, and fuzzy rule. A similarity measure is taken to change the term set and rule correction is performed based on...

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Bibliographic Details
Main Authors: Sung-Hoe Kim, Chong-Kug Park, Harashima, F.
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Fuzzy control
Fuzzy logic
Fuzzy sets
Fuzzy systems
Genetic algorithms
Mathematical model
Mobile robots
Programmable control
Trajectory
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Summary:We deal with the design of a WMR's fuzzy controller for trajectory tracking. The fuzzy controller uses a genetic algorithm to optimize membership function and reorganize the term set, and fuzzy rule. A similarity measure is taken to change the term set and rule correction is performed based on the changed term set. We propose the modified algorithm to take care of fine tuning. The searching region is gradually cut down while the modified GA is performed.
DOI:10.1109/IROS.1998.724824