Fuzzy Critic for intelligent planning by genetic algorithm

A new strategy for motion planning is proposed. The strategy applies a genetic algorithm (GA) to optimize the motion planning. To evaluate the planned motion, the strategy also applies fuzzy logic to a fitness function. The fitness function is referred to as Fuzzy Critic. The Fuzzy Critic evaluates plans as populations in the GA with respect to multiple factors. Depending on the goals of the tasks, human operators can easily determine inference rules in the Fuzzy Critic because of the fuzzy logic. The strategy determines a path for a mobile robot which moves from a starting point to a goal point, while avoiding obstacles in a work space and picking up loads on the way. Simulation illustrates the effectiveness of the proposed strategy