Adaptive fuzzy controller design for trajectory tracking of a 2 DOF wheeled mobile robot using genetic algorithm

被引：0
|
作者：
Kim, SH [1 ]
Park, CK [1 ]
Harashima, F [1 ]
机构：
[1] Kyung Hee Univ, Dept Elect Engn, Seoul, South Korea
来源：
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We dealt with the design of a WMR's fuzzy controller for trajectory tracking. The fuzzy controller uses a genetic algorithm to optimize membership function and reorganize the term set, and fuzzy rule. A similarity measure is taken to change the ten;; set and rule correction is performed based on the changed term set. We propose the modified algorithm to take care of fine tuning. The searching region is gradually cut down while the modified GA is performed.
引用
收藏
页码：1584 / 1589
页数：6
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