| PSO-based motion fuzzy controller design for mobile robots | |
|---|---|
| 學年 | 96 |
| 學期 | 2 |
| 出版（發表）日期 | 2008-03-01 |
| 作品名稱 | PSO-based motion fuzzy controller design for mobile robots |
| 作品名稱（其他語言） | |
| 著者 | 翁慶昌; Wong, Ching-chang; Wang, H.Y.; Li, S.A. |
| 單位 | 淡江大學電機工程學系 |
| 出版者 | Taipei: Chinese Fuzzy Systems Association |
| 著錄名稱、卷期、頁數 | International Journal of Fuzzy Systems 10(1), pp.284-292 |
| 摘要 | 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. |
| 關鍵字 | particle swarm optimization (PSO) algorithm; fitness function; fuzzy control; mobile robot |
| 語言 | en |
| ISSN | 1562-2479 |
| 期刊性質 | 國外 |
| 收錄於 | SCI EI |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/60936 ) |
| SDGS | 產業創新與基礎設施 |
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