A design method for an image-based fuzzy trajectory tracking controller to be applied to real robots by using a genetic algorithm

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

Research output: Contribution to journalArticle

Abstract

This paper proposes a method for designing an image-based fuzzy controller for trajectory tracking by using a genetic algorithm (GA). Although a controller designed by a GA cannot work well on real robots as same as simulations due to modeling errors, this paper tries to reduce the influence of the modeling errors by adding motion noises to the simulations in the design process. The proposed method is evaluated through some simulations and real robot experiments for a target trajectory consisting of a straight and a sine wave. It is shown from experimental results that the target trajectory can be tracked not only in simulations but also to a real robot by introducing an appropriate evaluation function for the GA and adding the amount of motion noises properly.

Original languageEnglish
Pages (from-to)1970-1979
Number of pages10
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume79
Issue number802
DOIs
Publication statusPublished - 2013
Externally publishedYes

Fingerprint

Genetic algorithms
Trajectories
Robots
Controllers
Function evaluation
Experiments

Keywords

  • Fuzzy control
  • Image-based visual servoing
  • Mobile robot
  • Trajectory tracking

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Industrial and Manufacturing Engineering

Cite this

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AB - This paper proposes a method for designing an image-based fuzzy controller for trajectory tracking by using a genetic algorithm (GA). Although a controller designed by a GA cannot work well on real robots as same as simulations due to modeling errors, this paper tries to reduce the influence of the modeling errors by adding motion noises to the simulations in the design process. The proposed method is evaluated through some simulations and real robot experiments for a target trajectory consisting of a straight and a sine wave. It is shown from experimental results that the target trajectory can be tracked not only in simulations but also to a real robot by introducing an appropriate evaluation function for the GA and adding the amount of motion noises properly.

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