GA in continuous space and fuzzy classifier system for opening of door with manipulator of mobile robot: new benchmark of evolutionary intelligent computing

An intelligent mobile robot for service use which is mainly utilized in office buildings has been developed. It can locomote autonomously from one room to others in different floors and buildings using elevators. The robot equips a 5DOF manipulator and must often conduct opening and closing door operation. For realizing door opening operation of manipulator in cooperation with locomotive mechanism it is necessary to develop efficient and intelligent computing algorithms for next two items: (1) determination of initial position of mobile robot in front of a door-knob like parking a car and (2) path planning of manipulator trajectory for opening a door. This paper provides these algorithms. We propose an algorithm based on Fuzzy Classifier System (FCS) for (1). The FCS is a kind of Genetic Algorithm (GA) in which a chromosome expresses each fuzzy rule. We develop a method of making a trajectory of the flexible manipulator using Genetic Algorithms in Continuous Space (GACS) for (2)