Online Self-Evolving Fuzzy Controller for Autonomous Mobile Robots

Sadeghi-Tehran, Pouria and Angelov, Plamen (2011) Online Self-Evolving Fuzzy Controller for Autonomous Mobile Robots. In: Evolving and Adaptive Intelligent Systems (EAIS), 2011 IEEE Workshop on. IEEE, FRA, pp. 100-107. ISBN 978-1-4244-9978-6

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In this paper, an online self-evolving fuzzy controller is proposed for an autonomous leader/follower. The self-evolving controller starts with a simple configuration and learns from its own actions while controlling the mobile robot during the leader following behaviour. A traditional Takagi-Sugeno type fuzzy controller is also implemented and compared with the proposed controller to verify the reliability and performance of the self-evolving controller. Experiments are carried out with a real mobile robot Pioneer 3DX at Lancaster University.

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27 Jul 2012 09:13
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15 Feb 2022 01:35