Design of a Saving-Energy Fuzzy Logic Controller for a Differential Drive Robot Based on an Optimization

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG43__%2F24%3A00558960" target="_blank" >RIV/60162694:G43__/24:00558960 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.3390/app13020997" target="_blank" >https://doi.org/10.3390/app13020997</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app13020997" target="_blank" >10.3390/app13020997</a>

Result language

angličtina

Original language name

Design of a Saving-Energy Fuzzy Logic Controller for a Differential Drive Robot Based on an Optimization

Original language description

In the problem of designing a Fuzzy Logic Controller (FLC) for robots in general and a Differential Drive Robot (DDR) in particular, the determination of the parameters of Membership Functions (MFs) and Fuzzy Rules (FRs) is a difficult, complicated, and time-consuming problem because this is mainly based on heuristics and the knowledge of experts. Therefore, this paper provides a new method to efficiently design an FLC for the DDR by using the Genetic Algorithm (GA). Here, the GA is used to generate and optimize both the parameters of MFs and the FRs according to the minimum kinetic energy loss criterion. For this purpose, a program is created in Google Colab((R)) by using the Python language with the help of the "Pymoo" library to not only automatically generate all the suboptimal parameters of MFs and the suboptimal FRs but also the simulate and evaluate different used FLCs. This program is published as an open-source code so that all readers can browse, view, run, and modify the code themselves to design their FLC. The simulation results have shown that the designed FLC is much better than other used FLCs in terms of the minimum kinetic energy loss while other control performances are still good.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10300 - Physical sciences

Project

—

Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

APPLIED SCIENCES-BASEL

ISSN

2076-3417

e-ISSN

2076-3417

Volume of the periodical

13

Issue of the periodical within the volume

2

Country of publishing house

CH - SWITZERLAND

Number of pages

23

Pages from-to

997

UT code for WoS article

000916738200001

EID of the result in the Scopus database

2-s2.0-85146643766