Genetic Algorithm Based Parameters Tuning for the Hybrid Intelligent Controller Design for the Manipulation of Mobile Robot

摘要

In today's industrial automation era, mobile robot plays an important role. And continuous improvement of mobile robot performance can be an important research topic. We use Matlab 2018 Simulink to simulate these results. In the paper genetic algorithm based parameters tuning for the hybrid intelligent controller design for the manipulation of the mobile robot is proposed. By way of the combination of traditional PID controller and Fuzzy Logic controller, an intelligent controller or Fuzzy PID controller is set up. Then, using Genetic Algorithm to tune the parameters of membership function of Fuzzy Logic Controller is provided so that the performance index of the mobile robot can be achieved. From simulation results it can be found that the response speed is raised and the settling time is decreased. The proposed intelligent controller is then implemented on a mobile robot to verify the superior performance of the intelligent controller.