Queen-bee Genetic Optimization of an Heuristic Based Fuzzy Control Scheme for a Mobile Robot
Abstract
This work presents both a novel control scheme for a mobile robot and an optimization method for improving its performance. The analyzed control problem will be to move a two wheeled robot from an initial posture to a final destination using the minimum amount of time and arriving at a low speed to be able to stop. First the control strategy, based on a fuzzy logic controller for the robot kinematics and a PID controller for the robot dynamics, is presented. The fuzzy controller is then optimized using a new type of genetic algorithm that replies the reproduction method of bees. The optimized fuzzy controller presents an important improvement on its performance. Finally, several optimal controllers are combined together to create an adaptive controller that can handle general cases in an efficient way
Sign up today - FREE
Mendeley saves you time finding and organizing research. Learn more
- All your research in one place
- Add and import papers easily
- Access it anywhere, anytime