Using Interval Type-2 Recurrent Fuzzy Cerebellar Model Articulation Controller Based on Improved Differential Evolution for Cooperative Carrying Controller of Mobile Robots

Tzu Chao Lin, Chao Chun Chen, Cheng Jian Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Mobile robot is widely utilized in various fields such as navigation control, obstacle avoidance and object carrying. For keeping away from obstacles to avoid collision and preventing object carrying from dropping down, we propose a state manager (SM) designed to assist the mobile robots so that they can switch operation between wall-following carrying (WFC) and toward goal carrying (TGC) by different external condition. In this controlling model, interval type-2 recurrent fuzzy cerebellar model articulation controller (IT2RFCMAC), embedded with a modified evolutionary optimization and dynamic grouping differential evolution (DGDE), is implemented for WFC and TGC. By adopting reinforcement learning strategy, mobile robots equip with adaptively wall-following control to make cooperative carrying control in real.

Original languageEnglish
Title of host publication2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728198125
DOIs
Publication statusPublished - 2020 Nov 4
Event2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020 - Hsinchu, Taiwan
Duration: 2020 Nov 42020 Nov 7

Publication series

Name2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020

Conference

Conference2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020
Country/TerritoryTaiwan
CityHsinchu
Period20-11-0420-11-07

All Science Journal Classification (ASJC) codes

  • Applied Mathematics
  • Control and Optimization
  • Logic

Fingerprint

Dive into the research topics of 'Using Interval Type-2 Recurrent Fuzzy Cerebellar Model Articulation Controller Based on Improved Differential Evolution for Cooperative Carrying Controller of Mobile Robots'. Together they form a unique fingerprint.

Cite this