Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms

Ricardo Martínez; Oscar Castillo; Luis T. Aguilar

doi:10.1016/j.ins.2008.12.028

Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms

Ricardo Martínez, Oscar Castillo, Luis T. Aguilar

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Article › peer-review

321 Scopus citations

Abstract

We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on type-2 fuzzy logic theory and genetic algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.

Original language	English
Pages (from-to)	2158-2174
Number of pages	17
Journal	Information Sciences
Volume	179
Issue number	13
DOIs	https://doi.org/10.1016/j.ins.2008.12.028
State	Published - 13 Jun 2009

Keywords

Genetic algorithms
Intelligent control
Interval type-2 fuzzy logic
Mobile robots
Optimization

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10.1016/j.ins.2008.12.028

Cite this

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title = "Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms",

abstract = "We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on type-2 fuzzy logic theory and genetic algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.",

keywords = "Genetic algorithms, Intelligent control, Interval type-2 fuzzy logic, Mobile robots, Optimization",

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AU - Castillo, Oscar

AU - Aguilar, Luis T.

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AB - We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on type-2 fuzzy logic theory and genetic algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.

KW - Genetic algorithms

KW - Intelligent control

KW - Interval type-2 fuzzy logic

KW - Mobile robots

KW - Optimization

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EP - 2174

JO - Information Sciences

JF - Information Sciences

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Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms

Abstract

Keywords

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