2013 | OriginalPaper | Buchkapitel
Optimization of a Fuzzy Tracking Controller for an Autonomous Mobile Robot under Perturbed Torques by Means of a Chemical Optimization Paradigm
verfasst von : Leslie Astudillo, Patricia Melin, Oscar Castillo
Erschienen in: Recent Advances on Hybrid Intelligent Systems
Verlag: Springer Berlin Heidelberg
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This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on 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 application.