Steering Control of Wheeled Mobile Robot Using GA Fuzzy Neural Network

As the mathematic model of the wheeled mobile robot is very complicated, a GA (genetic algorithms) fuzzy neural network method is presented for its steering control. A neural network model of the mobile robot is first established. Then a fuzzy neural network controller is constructed, and the GA method is used to find the best control parameters. The controller is then improved to suit the wide range of speeds. Simulation results show that the control strategy can control the mobile robot efficiently.