Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA |
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| Authors: | CAO Zheng-cai ZHAO Ying-tao FU Yi-li .College of Information Science Technology Beijing University of Chemical Technology Beijing China |
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| Affiliation: | CAO Zheng-cai1,2,ZHAO Ying-tao1,FU Yi-li2 1.College of Information Science and Technology,Beijing University of Chemical Technology,Beijing 100029,China 2.The State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150001,China |
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| Abstract: | A point stabilization scheme of a wheeled mobile robot(WMR)which moves on uneven surface is presented by using fuzzy control.Taking the kinematics and dynamics of the vehicle into account,the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law.Herein,the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity,respectively.Subsequently,genetic algorithm(GA)is applied to optimize the controller par... |
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| Keywords: | wheeled mobile robot point stabilization fuzzy control genetic algorithm |
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