Optimal Trajectory of A Mobile Robot by a Genetic Design Fuzzy Logic Controller

被引：8
|
作者：
Rekik, Chokri [1 ]
Jallouli, Mohamed [1 ]
Derbel, Nabil [1 ]
机构：
[1] Univ Sfax, Res Unit Intelligent Control Design & Optimizat C, Sfax Engn Sch, Sfax 11733038, Tunisia
来源：
2009 INTERNATIONAL CONFERENCE ON ADVANCES IN COMPUTATIONAL TOOLS FOR ENGINEERING APPLICATIONS | 2009年
关键词：
D O I：
10.1109/ACTEA.2009.5227926
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Obstacle avoidance and path planning are the most important problems in mobile robots. Besides, finding methods for controlling and decreasing the real robot error in path have been another target for researchers investigation. Usual methods have two separated parts, research target and path planning with obstacle avoidance. In this context, a fuzzy logic controller has been constructed in order to train an intelligent robot. Genetic algorithms are used to optimize the consequences of a Sugeno fuzzy logic optimal controller for the mobile robot navigation. This is to search a target in an environment with and without obstacles. Simulation results verify successful applications of method for real motion situations. An application have been effected in the Khepera robot demonstrating. The Khepera robot can go to the goal and avoid the obstacles successfully.
引用
收藏
页码：107 / 111
页数：5
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