Perception-action rule acquisition by coevolutionary fuzzy classifier system

Recently, many researchers have studied the techniques in applying a fuzzy classifier system (FCS) to control mobile robots, since the FCS can easily treat continuous inputs, such as sensors and images by using a fuzzy number. By using the FCS, however, only reflective rules are acquired. Thus, in the proposed approach, an additional genetic algorithm is incorporated in order to search for strategic knowledge, i.e., the sequence of effective activated rules in the FCS. Therefore, the proposed method consists of two modules: an ordinal FCS and the genetic algorithm. Computational experiments based on WEBOTS, one of the Khepera robot simulators, confirm the effectiveness of the proposed method