제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제12권6호
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  • Pages.561-567
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  • 2006
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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경로 추적을 위한 구륜 이동 로봇의 인공 면역 알고리즘을 이용한 퍼지 제어기

A Fuzzy Controller Using Artificial Immune Algorithm for Trajectory Tracking of WMR

  • 발행 : 2006.06.01
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초록

This paper deals with a fuzzy controller using IA(Immune Algorithm) for Trajectory Tracking of 2-DOF WMR(Wheeled Mobile Robot). The global inputs to the WMR are reference position and reference velocity, which are time variables. The global output of WMR is a current position. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities on the track of trajectory is necessary. Therefore, a FIAC(Fuzzy-IA controller) is proposed to give velocity compensation in this system. Input variables of fuzzy part are position errors in every sampling time. The output values of fuzzy part are compensation velocities. IA are implemented to adjust the scaling factor of fuzzy part. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.

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참고문헌

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