구륜 이동 로보트의 경로 추적을 위한 Fuzzy-Genetic Controller 설계

Design fuzzy-genetic controller for path tracking in wheeled-mobile robot

In this paper the fuzzy-genetic controller for path-tracking of WMRs is proposed. Fuzzy controller is implemented to adaptive adjust the crossover rate and mutation rate, and genetic algorithm is implemented to adaptive adjust the control gain during the optimization. The computer simulation shows that the proposed fuzzy-genetic controller is effective.