AUTONOMOUS MOBILE ROBOT CONTROL USING IF-THEN RULES AND GENETIC ALGORITHM

摘要

One of the main robotics tasks is efficient autonomous mobile robots movement in previously unknown environment with obstacles and walls. Different strategies exist to design control systems to perform the robot movement. One of the simplest ways to control autonomous mobile robots is the usage of IF-THEN rules. The article shows that a rough frame of control system using IF-THEN rules can be designed. Then a genetic algorithm can by used to find optimal parameters of the control algorithm: particular boundaries of infrared proximity sensors and motors speed.