The Journal of China Universities of Posts and Telecommunications

Acta Metallurgica Sinica(English letters) ›› 2011, Vol. 18 ›› Issue (5): 108-113.doi: 10.1016/S1005-8885(10)60111-2

• Wireless • Previous Articles     Next Articles

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

  

  1. 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).

Abstract:

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.

Key words:

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

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