S. H. Mahboobi - Mechanical Engineering, Sharif University of Technology
Aria Alasty - Mechanical Engineering, Sharif University of Technology

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.

fuzzy control, Trajectory Tracking, Rescue Robot, Genetic Algorithm