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
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;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
