Title :
Evolutionary Design of Fuzzy Controllers Based on Messy Coding for a Miniature Mobile Robot
Author :
Gómez, Rodney A. ; Lugo, Katherine ; Vallejo, Eric
Author_Institution :
Departamento de Ingenieria Electrica y Electronica, Univ. Del Norte, Barranquilla
Abstract :
The design of fuzzy controllers for mobile robots navigation in different environments has been considered a difficult task for a long time. In this paper, an evolutionary strategy is developed in which a genetic algorithm builds the rules base of a fuzzy controller during training sessions. The potential of the scheme has been shown in the simulated and real Khepera robot
Keywords :
control system synthesis; fuzzy control; genetic algorithms; microrobots; mobile robots; navigation; evolutionary fuzzy controller design; genetic algorithm; messy coding; miniature mobile robot; mobile robots navigation; Fuzzy control; Fuzzy systems; Genetic algorithms; Infrared sensors; Input variables; Mechanical sensors; Mobile robots; Navigation; Robot sensing systems; Sensor phenomena and characterization;
Conference_Titel :
Evolving Fuzzy Systems, 2006 International Symposium on
Conference_Location :
Ambleside
Print_ISBN :
0-7803-9719-3
Electronic_ISBN :
0-7803-9719-3
DOI :
10.1109/ISEFS.2006.251164
