Trajectory Tracking of a Mobile Robot Using Fuzzy Logic Tuned by Genetic Algorithm (TECHNICAL NOTE)
Publish Year: 1385
نوع سند: مقاله ژورنالی
زبان: English
View: 190
This Paper With 10 Page And PDF Format Ready To Download
- Certificate
- من نویسنده این مقاله هستم
این Paper در بخشهای موضوعی زیر دسته بندی شده است:
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
JR_IJE-19-1_010
تاریخ نمایه سازی: 20 اسفند 1400
Abstract:
In recent years, soft computing methods, like fuzzy logic and neural networks have been presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions and rule weights will be optimized by genetic algorithm in order to obtain more acceptable results. Simulation results have demonstrated significant improvements in controller efficacy.
Keywords:
Authors
S. H. Mahboobi
Mechanical Engineering, Sharif University of Technology
Aria Alasty
Mechanical Engineering, Sharif University of Technology