Title :
Time-optimal trajectory planning using a smart evolutionary algorithm with fuzzy inference system
Author :
Aydin, Serkan ; Temeltas, Hakan
Author_Institution :
Fac. of Electr. & Electron. Eng., Istanbul Tech. Univ., Turkey
Abstract :
Time optimal trajectories for mobile robot Nomad 200 is produced with a differential evolution-fuzzy inference system algorithm (DE-FIS). Shortest path is found by visibility graph method. This path is redefined to form a multi-constrained non-linear global optimization problem. This problem is solved by DE-FIS. FIS is used to learn the robot´s kinematics. Experiments are successfully implemented on Nomad 200.
Keywords :
evolutionary computation; fuzzy control; graph theory; inference mechanisms; mobile robots; nonlinear programming; path planning; robot kinematics; time optimal control; DE-FIS; Nomad 200; differential evolution; fuzzy inference system; kinematics learning; mobile robot; multiconstrained nonlinear global optimization problem; robot kinematics; shortest path; smart evolutionary algorithm; time-optimal trajectory planning; visibility graph method; Evolutionary computation; Fuzzy systems; Inference algorithms; Kinematics; Mobile robots; Motion planning; Navigation; Path planning; Roads; Trajectory;
Conference_Titel :
Intelligent Control, 2002. Proceedings of the 2002 IEEE International Symposium on
Print_ISBN :
0-7803-7620-X
DOI :
10.1109/ISIC.2002.1157858
