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

摘要

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.