Title :
Optimization with Genetic Algorithms of Interval Type-2 Fuzzy Logic controllers for an autonomous wheeled mobile robot: A comparison under different kinds of perturbations
Author :
Martínez, Ricardo ; Castillo, Oscar ; Aguilar, Luis T.
Author_Institution :
Div. of Grad. Studies & Res., Tijuana Inst. of Technol., Tijuana
Abstract :
We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on type-2 fuzzy logic theory and genetic algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.
Keywords :
fuzzy control; genetic algorithms; mobile robots; path planning; robot kinematics; torque control; autonomous wheeled mobile robot; computer simulations; genetic algorithms; interval type-2 fuzzy logic controllers; kinematic controller; navigation problems; perturbations; torque controller; tracking controller; Fuzzy logic; Fuzzy systems; Genetic algorithms; Mobile robots;
Conference_Titel :
Fuzzy Systems, 2008. FUZZ-IEEE 2008. (IEEE World Congress on Computational Intelligence). IEEE International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4244-1818-3
Electronic_ISBN :
1098-7584
DOI :
10.1109/FUZZY.2008.4630477
