Wall Following of Mobile Robot Based on Fuzzy Genetic Algorithm of Linear Interpolating

被引:0
作者
Ding, Cheng-jun [1 ]
Duan, Ping [1 ]
Zhang, Ming-lu [1 ]
Han, Yan-hui [2 ]
机构
[1] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China
[2] Hebei Univ Technol, Dept State Property Management, Tianjin 300130, Peoples R China
来源
FUZZY INFORMATION AND ENGINEERING, VOLUME 2 | 2009年 / 62卷
关键词
Mobile robot; fuzzy control; Genetic Algorithm(GA); linear interpolating; wall following;
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
Traditional fuzzy controller has some disadvantages, such as inferiorly adaptability due to the invariable membership function parameters and too many subjective factors and so on. So in this paper, we firstly put forward a new method of fuzzy inference based on the idea of linear interpolating. This method overcomes the shortcoming of conventional fuzzy controller such as the character of multi-relay and the conflict of rule numbers and real-time. Then we use Genetic Algorithm to off-line optimize the membership function parameters of fuzzy controller, which is used in the controlling course of mobile robot following straight wall. The result shows the optimizing control strategy is more effective in the aspect of following precision than traditional fuzzy controller.
引用
收藏
页码:1579 / +
页数:2
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