Title: Optimised fuzzy logic controller for a mobile robot navigation

Authors: M. Jallouli, C. Rekik, M. Chtourou, N. Derbel

Addresses: Research unit on Intelligent Control, Design and Optimisation of Complex Systems (ICOS), University of Sfax, Sfax Engineering School, BP W, 3038 Sfax, Tunisia. ' Research unit on Intelligent Control, Design and Optimisation of Complex Systems (ICOS), University of Sfax, Sfax Engineering School, BP W, 3038 Sfax, Tunisia. ' Research unit on Intelligent Control, Design and Optimisation of Complex Systems (ICOS), University of Sfax, Sfax Engineering School, BP W, 3038 Sfax, Tunisia. ' Research unit on Intelligent Control, Design and Optimisation of Complex Systems (ICOS), University of Sfax, Sfax Engineering School, BP W, 3038 Sfax, Tunisia

Abstract: This paper presents fuzzy logic controller (FLC) design using optimisation techniques. The FLC has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the kinematic constraints. First, we have carried out a simulation of a fuzzy logic based controller which determines the speed values of each driving wheel, while the robot seeking the goal. Second, an optimisation of this controller has been realised using gradient method or genetic algorithms. Simulation and experimental results demonstrates the effectiveness of the proposed approach.

Keywords: robot navigation; fuzzy control; fuzzy logic controllers; optimisation methods; genetic algorithms; GAs; gradient method; autonomous mobile robots; robot kinematics.

DOI: 10.1504/IJMIC.2010.033215

International Journal of Modelling, Identification and Control, 2010 Vol.9 No.4, pp.400 - 408

Published online: 13 May 2010 *

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