文章基本信息

标题：Genetic Fuzzy Logic Control Technique for a Mobile Robot Tracking a Moving Target
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作者：Karim Benbouabdallah ; Zhu Qi-Dan
期刊名称：International Journal of Computer Science Issues
印刷版ISSN：1694-0784
电子版ISSN：1694-0814
出版年度：2013
卷号：10
期号：1
出版社：IJCSI Press
摘要：Target tracking is a crucial function for an autonomous mobile robot navigating in unknown environments. This paper presents a mobile robot target tracking approach based on artificial intelligence techniques. The proposed controller calculates both the mobile robot linear and angular velocities from the distance and angle that separate it to the moving target. The controller was designed using fuzzy logics theory and then, a genetic algorithm was applied to optimize the scaling factors of the fuzzy logic controller for better accuracy and smoothness of the robot trajectory. Simulation results illustrate that the proposed controller leads to good performances in terms of computational time and tracking errors convergence.
关键词：Mobile robot; Target tracking; Fuzzy logic controller; Genetic algorithm.