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Wall Following of Mobile Robot Based on Fuzzy Genetic Algorithm of Linear Interpolating

机译：基于线性插值模糊遗传算法的移动机器人墙跟随

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摘要

Traditional fuzzy controller has some disadvantages, such as inferiorly adaptability due to the invariable membership function parameters and too many subjective factors and so on. So in this paper, we firstly put forward a new method of fuzzy inference based on the idea of linear interpolating. This method overcomes the shortcoming of conventional fuzzy controller such as the character of multi-relay and the conflict of rule numbers and real-time. Then we use Genetic Algorithm to off-line optimize the membership function parameters of fuzzy controller, which is used in the controlling course of mobile robot following straight wall. The result shows the optimizing control strategy is more effective in the aspect of following precision than traditional fuzzy controller.
机译：传统的模糊控制器存在一些缺点，如隶属函数参数不变，主观因素过多等导致适应性较差。因此，本文首先基于线性插值的思想提出了一种新的模糊推理方法。该方法克服了传统模糊控制器的多重继电器特性，规则号与实时性冲突等缺点。然后利用遗传算法对模糊控制器的隶属函数参数进行离线优化，将其用于直线机器人跟随壁的控制过程中。结果表明，与传统的模糊控制器相比，优化控制策略在跟随精度方面更为有效。

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