Abstract
This paper presents a hybrid method of fuzzy logic and genetic algorithm as promising model for evolutionary system, which controls a mobile robot effectively. The system obtains sensory information from eight infrared sensors and operates the robot with two motors driven by fuzzy inference based on the sensory information. Genetic algorithm has been utilized to robustly determine the shape and number of membership functions in fuzzy rules. Through the simulation with a simulated robot called Khepera, we assure ourselves that the evolutionary approach finds a set of optimal fuzzy rules to make the robot reach the goal point, as well as to solve autonomously several subproblems such as obstacle avoidance and passing-by narrow corridors.
This work was supported in part by academic research grant of 1996 from Yonsei University.
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© 1997 Springer-Verlag Berlin Heidelberg
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Cho, SB., Lee, SI. (1997). Hybrid evolutionary learning of fuzzy logic and genetic algorithm. In: Yao, X., Kim, JH., Furuhashi, T. (eds) Simulated Evolution and Learning. SEAL 1996. Lecture Notes in Computer Science, vol 1285. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0028537
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DOI: https://doi.org/10.1007/BFb0028537
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