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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781728198125
DOIs
出版狀態Published - 2020 十一月 4
事件2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020 - Hsinchu, Taiwan
持續時間: 2020 十一月 42020 十一月 7

出版系列

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

Conference

Conference2020 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2020
國家/地區Taiwan
城市Hsinchu
期間20-11-0420-11-07

All Science Journal Classification (ASJC) codes

  • 應用數學
  • 控制和優化
  • 邏輯

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