Research Article
A PSO Optimized Fuzzy Control Scheme for Mobile Robot Path Tracking
|
International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
|
| Volume 76 - Issue 2 |
| Published: August 2013 |
| Authors: Turki Y. Abdalla, Abdulkareem. A. A |
10.5120/13217-0608
|
Turki Y. Abdalla, Abdulkareem. A. A . A PSO Optimized Fuzzy Control Scheme for Mobile Robot Path Tracking. International Journal of Computer Applications. 76, 2 (August 2013), 11-17. DOI=10.5120/13217-0608
@article{ 10.5120/13217-0608,
author = { Turki Y. Abdalla,Abdulkareem. A. A },
title = { A PSO Optimized Fuzzy Control Scheme for Mobile Robot Path Tracking },
journal = { International Journal of Computer Applications },
year = { 2013 },
volume = { 76 },
number = { 2 },
pages = { 11-17 },
doi = { 10.5120/13217-0608 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2013
%A Turki Y. Abdalla
%A Abdulkareem. A. A
%T A PSO Optimized Fuzzy Control Scheme for Mobile Robot Path Tracking%T
%J International Journal of Computer Applications
%V 76
%N 2
%P 11-17
%R 10.5120/13217-0608
%I Foundation of Computer Science (FCS), NY, USA
Abstract
In this paper, a fuzzy controllers type Takagi_Sugeno is optimized by method of Particle Swarm Optimization (PSO). This algorithm automatically adjust the membership function of fuzzy controllers to control a trajectory of nonholonomic mobile robot that involves path trajectory using two optimized fuzzy controllers one for speed control and the other for azimuth control. The mobile robot is modelled in Simulink and PSO algorithm is implemented using MATLAB. Simulation results show good performance for the proposed control scheme. The results will compared with PSO-PID controllers that control the same model of mobile robot.
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