Title :
Genetic optimization of interval type-2 fuzzy reactive controllers for mobile robots
Author :
Melendez, Anamaris ; Castillo, Oscar ; Melin, Patricia
Author_Institution :
Dept. of Grad. Studies, Tijuana Inst. of Technol., Tijuana, Mexico
Abstract :
This paper describes an evolutionary genetic algorithm approach for the optimization of a fuzzy reactive controller applied to an autonomous mobile robot. The algorithm will optimize the Fuzzy Inference System evaluating the performance of each individual with a Neuro-Fuzzy fitness function that considers the robots covered distance, time used, battery life and the pattern of the trajectory.
Keywords :
controllers; fuzzy control; fuzzy reasoning; genetic algorithms; mobile robots; performance evaluation; trajectory control; autonomous mobile robots; battery life; evolutionary genetic algorithm approach; fuzzy inference system; genetic optimization; interval type-2 fuzzy reactive controllers; neuro-fuzzy fitness function; performance evaluation; trajectory pattern; Fuzzy logic; Genetic algorithms; Mobile robots; Robot kinematics; Robot sensing systems; Trajectory; control; fuzzylogic; genetic algorithm; reactive;
Conference_Titel :
IFSA World Congress and NAFIPS Annual Meeting (IFSA/NAFIPS), 2013 Joint
Conference_Location :
Edmonton, AB
DOI :
10.1109/IFSA-NAFIPS.2013.6608609
