TY - GEN
T1 - Using Interval Type-2 Recurrent Fuzzy Cerebellar Model Articulation Controller Based on Improved Differential Evolution for Cooperative Carrying Controller of Mobile Robots
AU - Lin, Tzu Chao
AU - Chen, Chao Chun
AU - Lin, Cheng Jian
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/4
Y1 - 2020/11/4
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85099712214&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85099712214&partnerID=8YFLogxK
U2 - 10.1109/iFUZZY50310.2020.9297367
DO - 10.1109/iFUZZY50310.2020.9297367
M3 - Conference contribution
AN - SCOPUS:85099712214
T3 - 2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020
BT - 2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020
Y2 - 4 November 2020 through 7 November 2020
ER -