parameter optimisation of path-following fuzzy controller for a six-wheel lunar rover
文献类型：期刊论文
| 作者 | Ge Pingshu; Guo Lie; Zhang Ronghui; Shao Qiang; Zhao Xiuchun |
| 刊名 | IET INTELLIGENT TRANSPORT SYSTEMS
 |
| 出版日期 | 2013 |
| 卷号 | 7期号:1页码:1-9 |
| ISSN号 | 1751-956X |
| 英文摘要 | 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. |
| 学科主题 | Transportation |
| 收录类别 | SCI |
| WOS记录号 | WOS:000321702200001 |
| 公开日期 | 2013-11-07 |
| 源URL | [http://ir.xjipc.cas.cn/handle/365002/2677]  |
| 专题 | 新疆理化技术研究所_多语种信息技术研究室 |
| 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 |
| 推荐引用方式 GB/T 7714 | 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. |
| APA | Ge Pingshu,Guo Lie,Zhang Ronghui,Shao Qiang,&Zhao Xiuchun.(2013).parameter optimisation of path-following fuzzy controller for a six-wheel lunar rover.IET INTELLIGENT TRANSPORT SYSTEMS,7(1),1-9. |
| MLA | Ge Pingshu,et al."parameter optimisation of path-following fuzzy controller for a six-wheel lunar rover".IET INTELLIGENT TRANSPORT SYSTEMS 7.1(2013):1-9. |
入库方式： OAI收割
来源：新疆理化技术研究所
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