DocumentCode
416617
Title
Genetic algorithm based design of fuzzy motion controllers for the Brachiation mobile robot
Author
Vlad, O. Popovici ; Fukuda, T.
Author_Institution
Nagoya Univ., Japan
Volume
1
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
913
Abstract
In this paper a genetic algorithm based design method for Takagi-Sugeno (TS) type fuzzy motion controllers is proposed. The parameters of both the antecedent and the consequent part of the fuzzy rules are obtained in the same time, using an improved simple genetic algorithm (ISGA). The controllers are aimed to ensure the locomotion of a Brachiation mobile robot (BMR).
Keywords
control system synthesis; fuzzy control; genetic algorithms; mobile robots; motion control; Brachiation mobile robot; Takagi-Sugeno type fuzzy motion controller design; improved simple genetic algorithm;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1323527
Link To Document