• Corpus ID: 8336300

CHEMICAL OPTIMIZATION PARADIGM APPLIED TO A FUZZY TRACKING CONTROLLER FOR AN AUTONOMOUS MOBILE ROBOT

@inproceedings{Astudillo2013CHEMICALOP,
  title={CHEMICAL OPTIMIZATION PARADIGM APPLIED TO A FUZZY TRACKING CONTROLLER FOR AN AUTONOMOUS MOBILE ROBOT},
  author={Leslie Astudillo and Patricia Melin and Oscar Castillo},
  year={2013}
}
This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application. 
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