Genetic Fuzzy Logic Control Technique for a Mobile Robot Tracking a Moving Target
Target tracking is a crucial function for an autonomous mobile robot navigating in unknown environments. This paper presents a mobile robot target tracking approach based on artificial intelligence techniques. The proposed controller calculates both the mobile robot linear and angular velocities from the distance and angle that separate it to the moving target. The controller was designed using fuzzy logics theory and then, a genetic algorithm was applied to optimize the scaling factors of the fuzzy logic controller for better accuracy and smoothness of the robot trajectory. Simulation results illustrate that the proposed controller leads to good performances in terms of computational time and tracking errors convergence.
Keywords: Mobile robot, Target tracking, Fuzzy logic controller, Genetic algorithm.
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ABOUT THE AUTHORS
Karim Benbouabdallah
received his first university cycle diploma from National Preparatory School for Engineering studies, Rouiba, Algeria in 2005 and state engineering diploma in Systems Control from Military Polytechnic School, Bordj El Bahri, Algeria in 2008. He then joined Harbin Engineering University, China as research staff working toward a Ph.D degree. His research interests include Vision in robotics, mobile robots navigation and intelligent control techniques.
Zhu Qi-Dan
is a professor at College of Automation, Harbin Engineering University, China. He received his M.Sc degree from Harbin Shipbuilding Engineering Institute in 1987 and his Ph.D degree in 2001 from Harbin Engineering University. He has supervised several master and Ph.D students. His research interests are mainly focused in the area of robotics, machine vision, omnidirectional vision and engineering control systems.
Karim Benbouabdallah
received his first university cycle diploma from National Preparatory School for Engineering studies, Rouiba, Algeria in 2005 and state engineering diploma in Systems Control from Military Polytechnic School, Bordj El Bahri, Algeria in 2008. He then joined Harbin Engineering University, China as research staff working toward a Ph.D degree. His research interests include Vision in robotics, mobile robots navigation and intelligent control techniques.
Zhu Qi-Dan
is a professor at College of Automation, Harbin Engineering University, China. He received his M.Sc degree from Harbin Shipbuilding Engineering Institute in 1987 and his Ph.D degree in 2001 from Harbin Engineering University. He has supervised several master and Ph.D students. His research interests are mainly focused in the area of robotics, machine vision, omnidirectional vision and engineering control systems.
