Evolutionary learning of a fuzzy behavior based controller for a nonholonomic mobile robot in a class of dynamic environments

D. P.Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

研究成果: Contribution to journalArticle査読

10 被引用数 (Scopus)

抄録

This paper presents an approach for evolving optimum behaviors for a nonholonomic mobile robot in a class of dynamic environments. A new evolutionary algorithm reflecting some powerful features in the natural evolutionary process to have flexibility to deal with changes in the environment is used to evolve optimum behaviors. Furthermore, a fuzzy set based multi-objective fitness evaluation function is adopted in the evolutionary algorithm. The multi-objective evaluation function is designed so that it allows incorporating complex linguistic features that a human observer would desire in the behaviors of the mobile robot movements. To illustrate the effectiveness of the proposed method, simulation results are compared using a conventional evolutionary algorithm.

本文言語英語
ページ(範囲)255-277
ページ数23
ジャーナルJournal of Intelligent and Robotic Systems: Theory and Applications
32
3
DOI
出版ステータス出版済み - 11 1 2001
外部発表はい

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 機械工学
  • 産業および生産工学
  • 人工知能
  • 電子工学および電気工学

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