Optimum synthesis of fuzzy logic controller for trajectory tracking by differential evolution

被引：18

作者：

Pishkenari, H. Nejat ^{[1
]}

Mahboobi, S. H. ^{[2
]}

Alasty, A.

机构：

[1] Sharif Univ Technol, Ctr Excellence Design Robot & Automat, Sch Mech Engn, Dept Mech Engn, Tehran, Iran

[2] Sharif Univ Technol, Inst Nanosci & Nanotechnol, Tehran, Iran

来源：

SCIENTIA IRANICA | 2011年 / 18卷 / 02期

关键词：

Trajectory tracking; Mobile robot; Differential evolution; Genetic algorithm; Fuzzy membership functions; OPTIMAL-DESIGN; NAVIGATION;

D O I：

10.1016/j.scient.2011.03.021

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Differential Evolution (DE) and Genetic Algorithms (GA) are population based search algorithms that come under the category of evolutionary optimization techniques. In the present study, these evolutionary methods have been utilized to conduct the optimum design of a fuzzy controller for mobile robot trajectory tracking. Comparison between their performances has also been conducted. In this paper, we will present a fuzzy controller to the problem of mobile robot path tracking for a CEDRA rescue robot. After designing the fuzzy tracking controller, the membership functions will be optimized by evolutionary algorithms in order to obtain more acceptable results. (C) 2011 Sharif University of Technology. Production and hosting by Elsevier B.V. All rights reserved.

引用

页码：261 / 267

页数：7

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