Genetic Fuzzy + PI Path Tracking Control of a Nonholonomic Mobile Robot

A mobile robot is one of the well-known nonholonomic systems. The genetic fuzzy + PI path tracking control applied to a mobile robot is presented. The proposed controller composes of two fuzzy + PI controllers which are employed to control the angular velocity together, and one fuzzy + PI controller that is utilized to adjust the speed of mobile robot solely. Moreover, the fuzzy controller is designed to track reference path in approaching phase and PI controller is operated to diminish the tracking error in stable phase. In order to obtain better tracking performance, Genetic algorithm (GA) is used to optimize controller parameters. Finally, computer simulation results are given to illustrate the effectiveness of the proposed control scheme.