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 language | English |
|---|---|
| Pages (from-to) | 1970-1979 |
| Number of pages | 10 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 79 |
| Issue number | 802 |
| DOIs | |
| Publication status | Published - 2013 |
| Externally published | Yes |
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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
A design method for an image-based fuzzy trajectory tracking controller to be applied to real robots by using a genetic algorithm. / Kato, Tatsuya; Watanabe, Keigo; Maeyama, Shoichi.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 79, No. 802, 2013, p. 1970-1979.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A design method for an image-based fuzzy trajectory tracking controller to be applied to real robots by using a genetic algorithm
AU - Kato, Tatsuya
AU - Watanabe, Keigo
AU - Maeyama, Shoichi
PY - 2013
Y1 - 2013
N2 - 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.
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.
KW - Fuzzy control
KW - Image-based visual servoing
KW - Mobile robot
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=84879942622&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84879942622&partnerID=8YFLogxK
U2 - 10.1299/kikaic.79.1970
DO - 10.1299/kikaic.79.1970
M3 - Article
AN - SCOPUS:84879942622
VL - 79
SP - 1970
EP - 1979
JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 802
ER -