Development of a qualified PSO fuzzy controller for redundant wheeled robots

Abstract

This paper presents an optimal fuzzy controller design method using Taguchi theory based particle swarm optimization (TPSO) to four-wheeled redundant mobile robots, called TPSO. In comparison with conventional fuzzy controllers, this approach takes the advantages of Taguchi method, fuzzy control and PSO, thereby obtaining better population diversity, avoiding premature convergence and achieving self-adaptive redundant control. This hybrid computing is then applied to develop an optimal fuzzy controller of redundant autonomous wheeled robots. The optimal parameters of the dynamic controller are self-adaptive via the proposed TPSO to resolve trajectory tracking problem. Simulation results are given to exhibit the merits of the proposed TPSO for redundant wheeled robots.