Motion planning of an autonomous mobile robot by integrating GAs and fuzzy logic control

Tzuu Hseng S. Li, Ming Sheng Chiang, Sheng Sung Jian

Research output: Contribution to conferencePaper

11 Citations (Scopus)

Abstract

This paper is to determine the optimal motion planning for the autonomous mobile robot (AMR) moving in the environment with obstacles. We propose two motion planning methods, one is the linear vertex decision mechanism (LVDM) and the other one is the fuzzy logic decision mechanism (FLDM). Computer simulations are explored to compare the performance of these two mechanisms. Furthermore, we apply the genetic algorithms (GAs) to the LVDM to select the optimal weighting factor and we also adopt the GAs in the FLDM such that the best membership function and/or the number of fuzzy control rules can be obtained. The computer simulations of the evolved LVDM and FLDM with GAs are also provided. All the simulations demonstrate that the proposed schemes can indeed guide the AMR even the circumstance is filled with obstacles.

Original languageEnglish
Pages933-936
Number of pages4
Publication statusPublished - 2000 Jan 1
EventFUZZ-IEEE 2000: 9th IEEE International Conference on Fuzzy Systems - San Antonio, TX, USA
Duration: 2000 May 72000 May 10

Other

OtherFUZZ-IEEE 2000: 9th IEEE International Conference on Fuzzy Systems
CitySan Antonio, TX, USA
Period00-05-0700-05-10

All Science Journal Classification (ASJC) codes

  • Software
  • Theoretical Computer Science
  • Artificial Intelligence
  • Applied Mathematics

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  • Cite this

    Li, T. H. S., Chiang, M. S., & Jian, S. S. (2000). Motion planning of an autonomous mobile robot by integrating GAs and fuzzy logic control. 933-936. Paper presented at FUZZ-IEEE 2000: 9th IEEE International Conference on Fuzzy Systems, San Antonio, TX, USA, .