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Optimization with Genetic Algorithms of Interval Type-2 Fuzzy Logic controllers for an autonomous wheeled mobile robot: A comparison under different kinds of perturbations

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3 Author(s)
Martinez, R. ; Div. of Grad. Studies & Res., Tijuana Inst. of Technol., Tijuana ; Castillo, Oscar ; Aguilar, L.T.

We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on type-2 fuzzy logic theory and genetic algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.

Published in:

Fuzzy Systems, 2008. FUZZ-IEEE 2008. (IEEE World Congress on Computational Intelligence). IEEE International Conference on

Date of Conference:

1-6 June 2008