Path planning for a mobile robot using fuzzy logic controller tuned by GA

Author

Hassanzadeh, Iraj ; Sadigh, Sevil M.

Author_Institution

Fac. of Electr. & Comput. Eng., Univ. of Tabriz, Tabriz, Iran

fYear

2009

fDate

23-26 March 2009

Firstpage

1

Lastpage

5

Abstract

This paper presents a fuzzy logic controller tuned by genetic algorithm (GA) for path planning near the optimal time to avoid obstacles in unknown environments. A GA is applied to modify the input and output membership functions of the fuzzy controller. A Matlab application, Kiks II, is used to simulate a Khepera II robot. Also, this approach is implemented by Khepera II robot. It is also shown that the proposed method outperforms the FLC approach.

Keywords

collision avoidance; control engineering computing; fuzzy control; genetic algorithms; mathematics computing; mobile robots; FLC approach; Khepera II robot; Kiks II; Matlab application; fuzzy logic controller; genetic algorithm; mobile robot; obstacle avoidance; path planning; Artificial neural networks; Fuzzy control; Fuzzy logic; Genetic algorithms; Mobile robots; Motion planning; Navigation; Neural networks; Optimal control; Path planning; FLC; Khepera II; genetic algorithm; path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and its Applications, 2009. ISMA '09. 6th International Symposium on

Conference_Location

Sharjah

Print_ISBN

978-1-4244-3480-0

Electronic_ISBN

978-1-4244-3481-7

Type

conf

DOI

10.1109/ISMA.2009.5164798

Filename

5164798