Optimal Design of the Fuzzy Navigation System for a Mobile Robot Using Evolutionary Algorithms. (21st February 2013)

• Record Type: Journal Article
• Authors: Meléndez, Abraham; Castillo, Oscar; Valdez, Fevrier; Soria, Jose; Garcia, Mario
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 2(2013)
• Publication Date: 2013-02-21
• Subjects: Fuzzy Control -- Genetic Algorithms -- Mobile Robots -- Navigation; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/55561
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper describes the optimization of an integration block within the proposed navigation control system for a mobile robot. The control blocks that the integrator will combine are two Fuzzy Inference Systems (FIS) in charge of tracking and reaction control, respectively. The integrator block is called a Weighted Fuzzy Inference System (WFIS) and assigns weights to the responses of each behaviour block, to combine them into a single response.