Design of an Optimal Fuzzy Controller for Mobile Robots via an Evolutionary Approach

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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Main Authors: Chun-Wei Huang, 黃俊偉
Other Authors: 許陳鑑
Format: Others
Language:zh-TW
Published: 2009
Online Access:http://ndltd.ncl.edu.tw/handle/37495120096353860452
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spelling ndltd-TW-097TKU054420352015-10-13T16:13:31Z http://ndltd.ncl.edu.tw/handle/37495120096353860452 Design of an Optimal Fuzzy Controller for Mobile Robots via an Evolutionary Approach 以演化法則設計之最佳化模糊控制器及其在移動機器人避障路徑規畫之應用 Chun-Wei Huang 黃俊偉 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. 許陳鑑 2009 學位論文 ; thesis 76 zh-TW
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language zh-TW
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description 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.
author2 許陳鑑
author_facet 許陳鑑
Chun-Wei Huang
黃俊偉
author Chun-Wei Huang
黃俊偉
spellingShingle Chun-Wei Huang
黃俊偉
Design of an Optimal Fuzzy Controller for Mobile Robots via an Evolutionary Approach
author_sort Chun-Wei Huang
title Design of an Optimal Fuzzy Controller for Mobile Robots via an Evolutionary Approach
title_short Design of an Optimal Fuzzy Controller for Mobile Robots via an Evolutionary Approach
title_full Design of an Optimal Fuzzy Controller for Mobile Robots via an Evolutionary Approach
title_fullStr Design of an Optimal Fuzzy Controller for Mobile Robots via an Evolutionary Approach
title_full_unstemmed Design of an Optimal Fuzzy Controller for Mobile Robots via an Evolutionary Approach
title_sort design of an optimal fuzzy controller for mobile robots via an evolutionary approach
publishDate 2009
url http://ndltd.ncl.edu.tw/handle/37495120096353860452
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