Title :
The CMAC based FLC and its application to rear-loading truck problems
Author :
Lu, Hung-Ching ; Tao, Ted
Author_Institution :
Dept. of Electr. Eng., Tatung Univ., Taipei, Taiwan
Abstract :
In this paper, the CMAC-based FLC is applied to rear-loading truck problems. We show that the proposed CMAC-based FLC has fast learning capability in forward and backward computations because it possesses the local generalization and because it has only a small number of activated units (hypercubes) in the network. Simulation results validate the fast learning and the accurate approximation of the proposed CMAC-based FLC.
Keywords :
cerebellar model arithmetic computers; fuzzy control; loading equipment; mobile robots; path planning; CMAC based fuzzy logic controller; backward computations; car-like mobile robot; crisp defuzzified value; fast learning capability; forward computations; hypercubes; improved accuracy; input-output approximation ability; local generalization; path planning rules; rear-loading truck problems; state variables; Artificial intelligence; Computational modeling; Computer networks; Convergence; Fuzzy set theory; Fuzzy sets; Humans; Hypercubes; Learning; Neural networks;
Conference_Titel :
Fuzzy Systems, 2003. FUZZ '03. The 12th IEEE International Conference on
Print_ISBN :
0-7803-7810-5
DOI :
10.1109/FUZZ.2003.1209357
