A self-organized fuzzy controller for wheeled mobile robot using anevolutionary algorithm
Sung Hoe Kim; Chongkug Park; Harashima, F.
Industrial Electronics, IEEE Transactions on
Volume 48, Issue 2, Apr 2001 Page(s):467 - 474
Digital Object Identifier 10.1109/41.915427
Summary:Designing the controller of a wheeled mobile robot is not as easy
as might be supposed, on account of nonholonomic constraints. To
overcome such difficulties and gain more accurate position and velocity
control, a self-organized fuzzy controller is proposed. To find
solutions of optimal fuzzy input and output membership functions and to
determine a rule base, an evolutionary process is proposed. The
procedure that derives this solution is composed of three steps, each
step having its own unique evolutionary process. The elements of an
output term set are increased first, and then the rule base is varied
according to increase of the elements. The varied fuzzy system competes
with a system that has no element increase. If the varied fuzzy system
loses in competition, then the system naturally disappears. On the other
hand, if the varied system survives, the fitness with each increased
element of the output term set and rule base is tested and unnecessary
parts are removed. After having finished regulation of output term set
and rule base, searching for input membership functions is processed
with constraints to reduce the unsuitability of the system. The
searching constraints do not produce a 0 membership value for any input.
After completing the search for the input membership function, fine
tuning of output membership functions is processed
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