Wall-following of mobile robot based on fuzzy genetic algorithm to linear interpolating

Ping Duan (), Cheng-jun Ding, Guang-ming Yuan and Ming-lu Zhang
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Ping Duan: Hebei University of Technology
Cheng-jun Ding: Hebei University of Technology
Guang-ming Yuan: School of Computer science and software Hebei University of Technology
Ming-lu Zhang: Hebei University of Technology

Fuzzy Information and Engineering, 2010, vol. 2, issue 2, 201-211

Abstract: Abstract Traditional fuzzy controller has some disadvantages, such as inferiorly adaptability due to the invariable membership function parameters and too many subjective factors. So in this paper, we firstly put forward a new method to 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 the traditional fuzzy controller.

Keywords: Mobile robot; Fuzzy control; Genetic algorithm; Linear interpolating; Wall following (search for similar items in EconPapers)
Date: 2010
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DOI: 10.1007/s12543-010-0045-6

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