An Online Hierarchical Fuzzy Rule Based System for Mobile Robot Controllers

  • Antony Waldock
  • Brian Carse
  • Chris Melhuish
Conference paper


The introduction of automated robots has revolutionised the manufacturing industry. The further development of autonomous mobile robots capable of functioning in unstructured and dynamic environments is highly desirable. This paper outlines a novel method for the online development of an interpretable mobile robot controller using supervised learning. An information theoretic approach is used to control the rate of expansion in a Hierarchical Fuzzy Rule Based System (FRBS). Experimental results, on a simulated mobile robot, are provided to demonstrate how the uncertainty tolerated can be used to control the trade-off between accuracy and interpretability.


Root Mean Square Error Membership Function Mobile Robot Training Pattern Control Robot 
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Copyright information

© Springer-Verlag London 2004

Authors and Affiliations

  • Antony Waldock
    • 1
  • Brian Carse
    • 2
  • Chris Melhuish
    • 2
  1. 1.Advanced TechnologyCentre BAE SYSTEMS BristolUK
  2. 2.Intelligent Autonomous Systems LaboratoryUniversity of the West of EnglandBristol

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