Design of an Optimal Fuzzy Controller for Mobile Robots via an Evolutionary Approach
碩士 === 淡江大學 === 電機工程學系碩士班 === 97 === In this paper, an optimal fuzzy controller is designed for a mobile robot using a proposed evolutionary approach. Two objective functions, total distance traveled and accumulated angle deviation, are established as the evaluation criteria based on which a particl...
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/37495120096353860452 |
| Summary: | 碩士 === 淡江大學 === 電機工程學系碩士班 === 97 === In this paper, an optimal fuzzy controller is designed for a mobile robot using a proposed evolutionary approach. Two objective functions, total distance traveled and accumulated angle deviation, are established as the evaluation criteria based on which a particle swarm optimization (PSO) is used to determine an optimal set of the consequent parameters of the ith rule of the fuzzy controller. Simulation results of the mobile robot moving along an enclosed course have demonstrated the effectiveness of the proposed approach.
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