Title :
Fuzzy Controller for Mobile Robots using Evolvable Hardware
Author :
Zaki, Ahmed M. ; El-Shafey, Mohamed H. ; Ali, Gamal M.
Author_Institution :
Ain Shams Univ., Cairo
Abstract :
In this paper, a new method for solving the kinematics of a mobile robot and obstacles avoidance is proposed. The method uses a Genetic Algorithm (GA) in solving the kinematics. Using this technique, the robot controller can adjust itself autonomously even with a malfunction in the robot. The new method was implemented and tested with different type of robot malfunctions. The results showed that, using the new method, the robot succeeds to perform its task even with a malfunction.
Keywords :
collision avoidance; fuzzy control; genetic algorithms; mobile robots; robot kinematics; evolvable hardware; fuzzy controller; genetic algorithm; mobile robot kinematics; obstacle avoidance; robot controller; robot malfunction; Biological cells; Control systems; Fuzzy control; Fuzzy systems; Hardware; Mobile robots; Robot control; Robot kinematics; Systems engineering and theory; Wheels;
Conference_Titel :
Electronics, Circuits and Systems, 2007. ICECS 2007. 14th IEEE International Conference on
Conference_Location :
Marrakech
Print_ISBN :
978-1-4244-1377-5
Electronic_ISBN :
978-1-4244-1378-2
DOI :
10.1109/ICECS.2007.4511211
