Title :
Path planning for a mobile robot using fuzzy logic controller tuned by GA
Author :
Hassanzadeh, Iraj ; Sadigh, Sevil M.
Author_Institution :
Fac. of Electr. & Comput. Eng., Univ. of Tabriz, Tabriz, Iran
Abstract :
This paper presents a fuzzy logic controller tuned by genetic algorithm (GA) for path planning near the optimal time to avoid obstacles in unknown environments. A GA is applied to modify the input and output membership functions of the fuzzy controller. A Matlab application, Kiks II, is used to simulate a Khepera II robot. Also, this approach is implemented by Khepera II robot. It is also shown that the proposed method outperforms the FLC approach.
Keywords :
collision avoidance; control engineering computing; fuzzy control; genetic algorithms; mathematics computing; mobile robots; FLC approach; Khepera II robot; Kiks II; Matlab application; fuzzy logic controller; genetic algorithm; mobile robot; obstacle avoidance; path planning; Artificial neural networks; Fuzzy control; Fuzzy logic; Genetic algorithms; Mobile robots; Motion planning; Navigation; Neural networks; Optimal control; Path planning; FLC; Khepera II; genetic algorithm; path planning;
Conference_Titel :
Mechatronics and its Applications, 2009. ISMA '09. 6th International Symposium on
Conference_Location :
Sharjah
Print_ISBN :
978-1-4244-3480-0
Electronic_ISBN :
978-1-4244-3481-7
DOI :
10.1109/ISMA.2009.5164798
