Optimum synthesis of fuzzy logic controller for trajectory tracking by differential evolution
نویسندگان
چکیده
Trajectory tracking; Mobile robot; Differential evolution; Genetic algorithm; Fuzzy membership functions. Abstract 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, themembership functionswill be optimized by evolutionary algorithms in order to obtain more acceptable results. © 2011 Sharif University of Technology. Production and hosting by Elsevier B.V. All rights reserved.
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Trajectory Tracking of a Mobile Robot Using Fuzzy Logic Tuned by Genetic Algorithm (TECHNICAL NOTE)
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