Recently, there has been extensive work on the construction of fuzzy controllers for mobile robots by a genetic algorithm (GA); therefore, we can realize evolutionary optimization as a promising method for developing fuzzy controllers. However, much investigation on the evolutionary fuzzy controller remains because most of the previous works have not seriously attempted to analyze the fuzzy controller obtained by evolution. This paper develops a fuzzy logic controller for a mobile robot with a GA in simulation environments and analyzes the behaviors of the controller with a state transition diagram of the internal model. Experimental results show that appropriate control mechanisms of the fuzzy controller are obtained by evolution. The controller has evolved well enough to smoothly drive the robot in different environments. The robot produces emergent behaviors by the interaction of several fuzzy rules obtained.
|Number of pages||11|
|Journal||IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics|
|Publication status||Published - 2001 Dec|
Bibliographical noteFunding Information:
Manuscript received December 8, 1999; revised May 31, 2001. This work was supported by Korea Research Foundation Grant KRF 2000-005-C00012. This paper was recommended by Associate Editor W. Pedrycz. The authors are with the Department of Computer Science, Yonsei University, Seoul 120-749, South Korea (e-mail: firstname.lastname@example.org; email@example.com). Publisher Item Identifier S 1083-4419(01)08547-8.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Information Systems
- Human-Computer Interaction
- Computer Science Applications
- Electrical and Electronic Engineering