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A PSO Optimized Fuzzy Control Scheme for Mobile Robot Path Tracking

by Turki Y. Abdalla, Abdulkareem. A. A
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 76 - Number 2
Year of Publication: 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 },
issue_date = { August 2013 },
volume = { 76 },
number = { 2 },
month = { August },
year = { 2013 },
issn = { 0975-8887 },
pages = { 11-17 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume76/number2/13217-0608/ },
doi = { 10.5120/13217-0608 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T21:48:47.288420+05:30
%A Turki Y. Abdalla
%A Abdulkareem. A. A
%T A PSO Optimized Fuzzy Control Scheme for Mobile Robot Path Tracking
%J International Journal of Computer Applications
%@ 0975-8887
%V 76
%N 2
%P 11-17
%D 2013
%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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Index Terms

Computer Science
Information Sciences

Keywords

Mobil Robot Fuzzy Control Particle Swarm Optimization Kinematic and Dynamic Model Particle Swarm Fuzzy controller (PSFC) PSO-PID

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