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学科主题: Transportation
题名: parameter optimisation of path-following fuzzy controller for a six-wheel lunar rover
作者: Ge Pingshu; Guo Lie; Zhang Ronghui; Shao Qiang; Zhao Xiuchun
刊名: IET INTELLIGENT TRANSPORT SYSTEMS
发表日期: 2013
DOI: 10.1049/iet-its.2011.0176
卷: 7, 期:1, 页:1-9
收录类别: SCI
资助者: National Natural Science Foundation of People's Republic of China 61104165, 11147128; Fundamental Research Funds for the Central Universities DUT12JR08, DC12010102, 20116217
摘要: Path following is a main and fundamental task for future lunar rover autonomous navigation. This study adopts genetic algorithm (GA) to optimise the parameters of a path-following fuzzy controller designed for a six-wheel lunar rover. Considering the influences of the orientation deviation and its variation rate to the controller performance, two quantisation factors and one scale factor are utilised to limit both the input and output variables. However, it is difficult to manually achieve the proper factors because they are coupling themselves complicatedly. They are adjusted and modified automatically during the path-following process based on GA to achieve the auto-tradeoff the parameter and its control performance. Those parameters are coded using floating-point encoding scheme, respectively. The minimum tracking error and the angular velocity are taken as the target function. After several iterations of crossover and mutation, the best parameters are determined aiming at achieving lower path tracking error with small angular velocity. Simulation on different paths and comparisons with traditional fuzzy controller results show the designed controller with optimised parameters has better performance than the one with manually regulated parameters.
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内容类型: 期刊论文
URI标识: http://ir.xjipc.cas.cn/handle/365002/2677
Appears in Collections:多语种信息技术研究室_期刊论文

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作者单位: Dalian Nationalities Univ, Coll Electromech & Informat Engn, Dalian 116024, Peoples R China;Dalian Univ Technol, Sch Automot Engn, Dalian 116024, Peoples R China;Chinese Acad Sci, Xinjiang Tech Inst Phys & Chem, Urumqi 830011, Peoples R China

Recommended Citation:
Ge Pingshu,Guo Lie,Zhang Ronghui,et al. parameter optimisation of path-following fuzzy controller for a six-wheel lunar rover[J]. IET INTELLIGENT TRANSPORT SYSTEMS,2013,7(1):1-9.
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