Title :
Obtaining a fuzzy controller with high interpretability in mobile robots navigation
Author :
Mucientes, Manuel ; Casillas, Jorge
Author_Institution :
Dept. of Electron. & Comput. Sci., Santiago de Compostela Univ., Spain
Abstract :
The work presents the design of a fuzzy controller for the wall-following behavior in mobile robotics using the COR (cooperative rules) methodology with ant colony optimization. The system has been tested in several simulated environments using the Nomad 200 robot software, and compared with other controller based on genetic algorithms. The proposed approach obtains a highly interpretable knowledge base in a reduced time, and the designer only has to define the number of membership functions and the universe of discourse of each variable.
Keywords :
control system synthesis; cooperative systems; fuzzy control; genetic algorithms; mobile robots; multi-robot systems; spatial variables control; Nomad 2000 robot software; ant colony optimization; cooperative rules methodology; fuzzy controller; genetic algorithm; mobile robots navigation; wall-following behavior; Computer science; Control systems; Force control; Fuzzy control; Input variables; Mobile robots; Navigation; Robot sensing systems; Uncertainty; Velocity control;
Conference_Titel :
Fuzzy Systems, 2004. Proceedings. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8353-2
DOI :
10.1109/FUZZY.2004.1375426
