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

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

研究成果: Paper同行評審

11 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁面933-936
頁數4
出版狀態Published - 2000 一月 1
事件FUZZ-IEEE 2000: 9th IEEE International Conference on Fuzzy Systems - San Antonio, TX, USA
持續時間: 2000 五月 72000 五月 10

Other

OtherFUZZ-IEEE 2000: 9th IEEE International Conference on Fuzzy Systems
城市San Antonio, TX, USA
期間00-05-0700-05-10

All Science Journal Classification (ASJC) codes

  • 軟體
  • 理論電腦科學
  • 人工智慧
  • 應用數學

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