Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

doi:10.1016/S1005-8885(10)60111-2

中国邮电高校学报(英文) ›› 2011, Vol. 18 ›› Issue (5): 108-113.doi: 10.1016/S1005-8885(10)60111-2

Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

曹政才,ZHAO Ying-tao, FU Yi-li

北京化工大学

收稿日期:2011-05-05 修回日期:2011-07-14 出版日期:2011-10-31 发布日期:2011-10-13
通讯作者: 曹政才 E-mail:giftczc@163.com
基金资助:
This work was supported by the State Key Laboratory of Robotics and System (SKLR-2010-MS-14), and the State Key Laboratory of Embedded System and Service Computing (2010-11).

Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China

Received:2011-05-05 Revised:2011-07-14 Online:2011-10-31 Published:2011-10-13
Contact: College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China E-mail:giftczc@163.com
Supported by:
This work was supported by the State Key Laboratory of Robotics and System (SKLR-2010-MS-14), and the State Key Laboratory of Embedded System and Service Computing (2010-11).

摘要/Abstract

摘要：

A point stabilization scheme of a wheeled mobile robot (WMR) which moves on uneven surface is presented by using fuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law. Herein, the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity, respectively. Subsequently, genetic algorithm (GA) is applied to optimize the controller parameters. Through the self-optimization, a group of optimum parameters is gotten. Simulation results are presented to show the effectiveness of the control strategy.

关键词:

wheeled mobile robot, point stabilization, fuzzy control, genetic algorithm

Abstract:

Key words:

wheeled mobile robot, point stabilization, fuzzy control, genetic algorithm

参考文献

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Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

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