A Design of Tracking Controller of Wheeled Mobile Robot using Fuzzy Logic and Genetic Algorithm

퍼지논리와 유전알고리즘을 이용한 차륜형 이동로봇의 제어기 설계

We design a stable controller for a mobile robot with variable gains and reference velocity in order to apply the proper gains and reference velocity, which are generated with fuzzy logic in on-line. The stability is guranteed by the Lyapunov theory. The fuzzy logic rules is found in off-line with GA strategy which drives each object function to be the least. The proposed controller is applied smooth path tracking due to the local path planing. Simulation results show robust performances under a different initial conditions.