篇名 | PSO-based Motion Fuzzy Controller Design for Mobile Robots |
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卷期 | 10:1 |
作者 | Ching-Chang Wong 、 Hou-Yi Wang 、 Shih-An Li |
頁次 | 284-292 |
關鍵字 | Particle Swarm Optimization 、 Fitness Function 、 Fuzzy Control 、 Mobile Robot 、 EI 、 SCI 、 SCIE 、 Scopus |
出刊日期 | 200803 |
A motion control structure with a distance fuzzy controller and an angle fuzzy controller is proposed to determine velocities of the left-wheeled motor and right-wheeled motor of the two-wheeled mobile robot. A PSO-based method is proposed to automatically determine appropriate membership functions of these two fuzzy systems so that the controlled robot can move to any desired position effectively in a two-dimensional space. A ratio coefficient coding method and a variable fitness function are considered in the proposed PSO-based fuzzy controller design method so that the proposed PSO-based method with a good searching efficiency and the selected fuzzy controller with a good control performance.