Journal
INFORMATION SCIENCES
Volume 179, Issue 13, Pages 2158-2174Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.ins.2008.12.028
Keywords
Interval type-2 fuzzy logic; Genetic algorithms; Mobile robots; Optimization; Intelligent control
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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. (C) 2009 Elsevier Inc. All rights reserved.
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