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Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms |
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| Authors: | Ricardo Martí nez,Luis T. Aguilar |
| Affiliation: | a Division of Graduate Studies and Research, Tijuana Institute of Technology, Tijuana, Mexico b Instituto Politécnico Nacional, Centro de Investigación y Desarrollo de Tecnología Digital, PMB 88, P.O. Box 439016, San Ysidro, CA 92143-9016, Mexico |
| Abstract: | We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on type-2 fuzzy logic theory and genetic algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems. |
| Keywords: | Interval type-2 fuzzy logic Genetic algorithms Mobile robots Optimization Intelligent control |
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