NDLI: A fuzzy-genetic based embedded-agent approach to learning and control in agricultural autonomous vehicles

Content Provider	IEEE Xplore Digital Library
Author	Hagras, H. Callaghan, V. Colley, M. Carr-West, M.
Copyright Year	1999
Description	Author affiliation: Dept. of Comput. Sci., Essex Univ., Colchester, UK (Hagras, H.)
Abstract	This paper describes the design of a fuzzy controlled autonomous robot, incorporating genetic algorithms (GA) based rule learning, for use in an outdoor agricultural environment for path and edge following activities which involve spraying insecticide, distributing fertilisers, ploughing, harvesting, etc. The robot has to navigate under different ground and weather conditions. This paper addresses the development of an online self-learning system based on modified version of the fuzzy classifier system. The proposed technique has resulted in rapid convergence suitable for learning individual behaviours online without the need for simulation. The controller was tested on both an in-door and out-door mobile robot operating with different types of sensors, propulsion and steering. Experiments include operating the vehicle following irregular crop edges under different weather and ground conditions within a tolerance in the order of 2 inches.
Starting Page	1005
Ending Page	1010
File Size	734163
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.772444
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Fuzzy control Robot control Genetic algorithms Spraying Fertilizers Navigation Fuzzy systems Convergence Testing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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