This chapter addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired from the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot.
CITATION STYLE
Melin, P., & Castillo, O. (2015). Fuzzy controllers for autonomous mobile robots: In Springer Handbook of Computational Intelligence (pp. 1517–1531). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-662-43505-2_80
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