Optimization control for mobile robot trajectory tracking based on the improved VFSA algorithm

Trajectory tracking control of wheeled mobile robots is one research hot. For the control system of the two-wheeled differential drive mobile robot being nonhonolomic system and many complex control parameters, it is difficult to really solve the problem based on traditional mathematics models. In this paper, fuzzy control and integral control are adopted and combined to be a fuzzy-integral controller, and the improved VFSA algorithm is used to optimize the controller parameters on-line. The simulation results show that the method is feasible, and can quickly approach to the conference trajectory in a short time, and the error of trajectory deviation is very small.