Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

A point stabilization scheme of a wheeled mobile robot (WMR) which moves on uneven surface is presented by using fuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law. Herein, the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity, respectively. Subsequently, genetic algorithm (GA) is applied to optimize the controller parameters. Through the self-optimization, a group of optimum parameters is gotten. Simulation results are presented to show the effectiveness of the control strategy.