Abstract
Traditional fuzzy controller has some disadvantages, such as inferiorly adaptability due to the invariable membership function parameters and too many subjective factors and so on. So in this paper, we firstly put forward a new method of fuzzy inference based on the idea of linear interpolating. This method overcomes the shortcoming of conventional fuzzy controller such as the character of multi-relay and the conflict of rule numbers and real-time. Then we use Genetic Algorithm to off-line optimize the membership function parameters of fuzzy controller, which is used in the controlling course of mobile robot following straight wall. The result shows the optimizing control strategy is more effective in the aspect of following precision than traditional fuzzy controller.
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© 2009 Springer-Verlag Berlin Heidelberg
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Ding, Cj., Duan, P., Zhang, Ml., Han, Yh. (2009). Wall Following of Mobile Robot Based on Fuzzy Genetic Algorithm of Linear Interpolating. In: Cao, B., Li, TF., Zhang, CY. (eds) Fuzzy Information and Engineering Volume 2. Advances in Intelligent and Soft Computing, vol 62. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03664-4_167
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DOI: https://doi.org/10.1007/978-3-642-03664-4_167
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03663-7
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