Autonomous Mobile Robot Control Using Fuzzy Logic and Genetic Algorithm

摘要

Design of efficient control algorithms for autonomous mobile robot movement in unknown and changing environment with obstacles and walls is a difficult task. There exist different strategies to design control systems to perform the robot movement. In this article possibility to use fuzzy logic, if-then rules, and genetic algorithm for autonomous mobile robot control is presented. Control using fuzzy logic is softer and better then control using if-then rules because of absence of motors speed jumps. It is shown that the rough control system can be designed using an expert knowledge. Then genetic algorithm can be used to improve the quality of the control system.