教師資料查詢 | 類別: 期刊論文 | 教師: 李世安 Shih-An, Li (瀏覽個人網頁)

標題: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
語言英文
ISSN1562-2479
期刊性質國外
收錄於SCI;EI
產學合作
通訊作者
審稿制度
國別中華民國
公開徵稿
出版型式
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