Cache-genetic-based modular fuzzy neural network for robot path planning

Kun Hsiang Wu, Chin-Hsing Chen, Jiann Der Lee

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


In this paper, we propose a modular fuzzy neural network (MFNN) based on cache genetic learning process. In this model, we use cache genetic algorithm to generate the possible patterns of the structure and the parameters directly for the MFNN. Using the proposed cache genetic algorithm, small population can be hold to speed up the genetic process from cache pool and keep chromosomes fresh by extracting new blood from auxiliary pool. A modular fuzzy neural network is able to learn the set of simpler functions faster than a multilayer perceptron can learn the undecomposed function in complex system. Combined with the cache genetic algorithm and the modular neural network to synthesize the fuzzy logic controller, the performance is better than usual fuzzy neural networks. We use the proposed model to solve the problem of the robot path planning and compare it with the other methods to realize its performance by considering four factors: safety factor, smoothness factor, length factor and time factor. Experiments results show the proposed model is superior than other approaches.

Original languageEnglish
Pages (from-to)3089-3094
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1996

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture

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