Application of the PSO algorithm combined with the Fuzzy Logic method in controlling the mobile robot to follow the trajectory
1 year ago
Authors:
Nguyễn Thanh Tần,Đặng Hữu Phúc
Publication date:
09 / 04 / 2022
Name of Publishers:
The 6th Vietnam interational conference and exhibittion on control and automation VCCA2021
Abstract:
In this article, the author has applied and controlled an independent 2-wheeled mobile robot model using Matlab/Simulink software. The paper focuses on the principle of the fuzzy logic method and the combination with the Particle Swarm Optimization algorithm (PSO) to adjust the parameters of the fuzzy system. The goal of the article is to control the mobile robot by independently controlling the wheel speed of the left and right wheel motors so that the robot can move and follow the given reference trajectory. The simulation results obtained from the Matlab/Simulink software will help us to know the optimization effect of a modern control method such as the PSO algorithm when it is combined with the Fuzzy Logic Controller method (FLC). The achieved result is that the robot model can fully meet the requirements, the model can follow the reference target with lines, circles, and grid lines within the error limit and the allowed distance.