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首页> 外文会议>International Conference on Mechanical Engineering and Mechanics vol.1; 20051026-28; Nanjing(CN) >Mobile Robot's Wall Following Based on Fuzzy Genetic Algorithm
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Mobile Robot's Wall Following Based on Fuzzy Genetic Algorithm

机译：基于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 inferior adaptability due to the invariable membership function parameters and too many subjective factors and so on. So this paper puts forward using 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. Firstly, this paper introduces the whole optimizing operations, which are coding strategy, determination of the fitness function, selection, crossover and mutation. Then by the validation of simulation platform, makes certain a group of the most excellent solution. Finally, uses this group solution to off-line experiment on the HEBUT-- I intelligent mobile robot. 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，本文提出了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，并将其用于移动机器人跟随直线墙的控制过程中。首先，介绍了整个优化操作，包括编码策略，适应度函数的确定，选择，交叉和变异。然后通过仿真平台的验证，确定了一组最优秀的解决方案。最后，使用此小组解决方案在HEBUT（我的智能移动机器人）上进行离线实验。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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