On using evolutionary programming for a mobile robot fuzzy motion controller

Author

Abdessemed, Foudil ; Benmahammed, K. ; Monacelli, Eric

Author_Institution

Inst. d´´Electron., Batna Univ., Algeria

fYear

2000

fDate

2000

Firstpage

37

Lastpage

42

Abstract

This paper presents the theoretical development of a complete navigation problem for use in an autonomous mobile robot. The situation for which the vehicle tries to reach the endpoint is treated by using a fuzzy logic controller. The problem of extracting the optimized If-Then rule base is solved using an evolutionary algorithm. Simulation results show that the designed fuzzy controller achieves effectively any movement control of the vehicle from its current position to its end motion

Keywords

control system synthesis; evolutionary computation; fuzzy control; mobile robots; navigation; optimal control; autonomous mobile robot; complete navigation problem; endpoint; evolutionary algorithm; evolutionary programming; fuzzy logic controller; mobile robot fuzzy motion controller; optimized If-Then rule base extraction; Fuzzy control; Fuzzy logic; Genetic programming; Kinematics; Mobile robots; Motion control; Motion planning; Remotely operated vehicles; Robot control; Robot programming;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2000. Proceedings of the 2000 IEEE International Symposium on

Conference_Location

Rio Patras

ISSN

2158-9860

Print_ISBN

0-7803-6491-0

Type

conf

DOI

10.1109/ISIC.2000.882896

Filename

882896