Abstract
This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.
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Astudillo, L., Melin, P., Castillo, O. (2013). Optimization of Type-2 and Type-1 Fuzzy Tracking Controllers for an Autonomous Mobile Robot under Perturbed Torques by Means of a Chemical Optimization Paradigm. In: Melin, P., Castillo, O. (eds) Soft Computing Applications in Optimization, Control, and Recognition. Studies in Fuzziness and Soft Computing, vol 294. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35323-9_1
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DOI: https://doi.org/10.1007/978-3-642-35323-9_1
Publisher Name: Springer, Berlin, Heidelberg
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