| 引用本文: | 段萍 ,张建畅,丁承君 ,张明路.基于模糊遗传算法的移动机器人墙跟踪控制策略[J].控制理论与应用,2006,23(3):416~420.[点击复制] |
| DUAN Ping,ZHANG Jian-chang,DING Cheng-jun,ZHANG Ming-lu.The fuzzy genetic algorithm for the mobile robot's wall tracking control[J].Control Theory and Technology,2006,23(3):416~420.[点击复制] |
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| 基于模糊遗传算法的移动机器人墙跟踪控制策略 |
| The fuzzy genetic algorithm for the mobile robot's wall tracking control |
| 摘要点击 1830 全文点击 1075 投稿时间：2004-09-06 修订日期：2005-09-05 |
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| DOI编号 10.7641/j.issn.1000-8152.2006.3.016 |
| 2006,23(3):416-420 |
| 中文关键词 模糊控制 遗传算法 移动机器人 墙跟踪 |
| 英文关键词 fuzzy control genetic algorithm mobile robot wall tracking |
| 基金项目 国家863计划资助项目(2003AA421040) |
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| 中文摘要 |
| 针对传统模糊控制器在设计过程中存在的人为主观因素较多,隶属函数参数不变引起的控制器适应能力差等缺点,本文将遗传算法引入到移动机器人直墙跟踪的模糊控制器优化问题中,阐述了遗传算法用于离线方式寻优模糊控制器隶属函数参数的具体操作过程,如编码策略、适应度函数的确定、选择、交叉、变异等.最终经过仿真平台的验证,确定一组最优解,并在HEBUT-Ⅰ型智能移动机器人上进行试验,结果表明与传统模糊控制策略相比,该方法不但提高了响应速度,同时改善了跟踪精度. |
| 英文摘要 |
| Traditional fuzzy controller has some disadvantages,such as inferior adaptability due to the invariable membership function parameters and too many subjective factors and so on.Genetic Algorithm is applied to off-line optimize the membership function parameters of fuzzy controller,which is used in the tracking control of mobile robot's straight wall.Firstly,the whole optimizing operations including coding strategy,determination of the fitness function,selection,crossover and mutation are introduced.Then by the validation of simulation platform,it determines the group of the best solutions.Finally,this group of solutions is applied to off-line experiment on the HEBUT-Ⅰintelligent mobile robot.The result shows that the optimizing control strategy is more effective in the aspect of tracking precision and responding speed than traditional fuzzy controller. |
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