Fuzzy inference system optimization by evolutionary approach for mobile robot navigation
Автор: Fatma Boufera, Fatima Debbat, Nicolas Monmarché, Mohamed Slimane, Mohamed Faycal Khelfi
Журнал: International Journal of Intelligent Systems and Applications @ijisa
Статья в выпуске: 2 vol.10, 2018 года.
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The problem in the autonomous navigation of a mobile robot is to define a strategy that allows it to reach the final destination and avoiding obstacles. Fuzzy logic is considered as an important tool to solve this problem. It can mimic reasoning abilities of the human being in navigation tasks. However a major problem of fuzzy systems is obtaining their parameters which are generally specified by human experts. This process can be long and complex. In order to generate optimal parameters of fuzzy controller, this work propose a learning and optimization process based on ant colony algorithm ACO and genetic algorithm operators (crossover and mutation).We present a comparison between inference system for autonomous navigation based on fuzzy logic before and after learning. The simulated results show clearly the impact of the optimization approach improves the fuzzy controller performance mainly in obstacle avoidance and detection of the shortest path.
Mobile robots, autonomous navigation, obstacle avoidance, fuzzy logic, evolutionary algorithm, learning
Короткий адрес: https://sciup.org/15016464
IDR: 15016464 | DOI: 10.5815/ijisa.2018.02.08
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