کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
383969 | 660837 | 2013 | 11 صفحه PDF | دانلود رایگان |
This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.
► This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot.
► An optimization method inspired on the chemical reactions is applied to solve this motion problem based on a fuzzy controller.
► Simulations are presented confirming that this optimization paradigm is able to outperform other techniques.
Journal: Expert Systems with Applications - Volume 40, Issue 8, 15 June 2013, Pages 3185–3195