NDLI: Control of autonomous robots using fuzzy logic controllers tuned by genetic algorithms

Content Provider	IEEE Xplore Digital Library
Author	Arsene, C.T.C. Zalzala, A.M.S.
Copyright Year	1999
Description	Author affiliation: Fac. of Control & Comput., Univ. Politechnica of Bucharest, Romania (Arsene, C.T.C.)
Abstract	Truly autonomous vehicles will require both projective planning and reactive components in order to perform robustly. Projective components are needed for long term planning and re-planning where explicit reasoning about future states is required. Reactive components allow the system to always have some action available in real time, and themselves can exhibit robust behaviour, but lack the ability to explicitly reason about future states over a long time period. The paper emphasises creating the projective component but also offer a simple solution for reactive component. A genetic algorithm implements the projective component, which designs automatically a fuzzy logic controller by modifying the position of controller membership functions and the commands given to the robot. For the reactive component, a simple solution was adopted so that if the robot sensors detect new obstacles, the robot will try to move to a previous position.
Starting Page	428
Ending Page	435
File Size	622224
Page Count	8
File Format	PDF
ISBN	0780355369
DOI	10.1109/CEC.1999.781956
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-07-06
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Fuzzy logic Robot sensing systems Robotics and automation Robustness Automatic control Remotely operated vehicles Mobile robots Real time systems Genetic algorithms
Content Type	Text
Resource Type	Article

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