文档介绍：IEEE International Workshop on Intelligent Data Acquisition and puting Systems: Technology and Applications
6-8 September 2007, Dortmund, Germany
Autonomous Mobile Robot Control Using Fuzzy Logic
and ic Algorithm
Gintautas Narvydas, Rimvydas Simutis, Vidas Raudonis
Kaunas University of Technology, Studentu 48-327, Kaunas, Lithuania,
gintautas.******@, rimvydas.******@, vidasraudonis@
Abstract – Design of efficient control algorithms for 1) to create hybrid intelligent control system to perform
autonomous mobile robot movement in unknown and a specific task;
changing environment with obstacles and walls is a 2) to use evolutionary programming methods to
difficult task. There exist different strategies to design improve the results of the first stage.
control systems to perform the robot movement. In this This article analyzes both stages: the first one related to
article possibility to use FUZZY logic, IF-THEN rules, the creation of the framework of a FUZZY control system
and ic Algorithm for autonomous mobile robot (FCS), and the second one related to the methodology
control is presented. Control using fuzzy logic is softer how to improve the control system using the ic
and better then control using IF-THEN rules because of Algorithm (GA).
absence of motors speed jumps. It is shown that the rough In the experiments