Design of a fuzzy logic controller for a mobile robot to track trajectories and optimization of the fuzzy controller using Genetic Algorithm.
- Derived the equations of the mobile robot (modeled as a unicycle) in state space representation
- Design of a fuzzy controller to give steering and velocity commands to the robot to track trajectories
- Designed membership functions and selected proper rules for fuzzification and defuzzification
- Optimized the fuzzy controller using Genetic Algorithm (GA) and Particle Swarm Optimization (PSO)