Abstract
This paper presents an approach for evolving optimum behaviors for a nonholonomic mobile robot in a class of dynamic environments. A new evolutionary algorithm reflecting some powerful features in the natural evolutionary process to have flexibility to deal with changes in the environment is used to evolve optimum behaviors. Furthermore, a fuzzy set based multi-objective fitness evaluation function is adopted in the evolutionary algorithm. The multi-objective evaluation function is designed so that it allows incorporating complex linguistic features that a human observer would desire in the behaviors of the mobile robot movements. To illustrate the effectiveness of the proposed method, simulation results are compared using a conventional evolutionary algorithm.
| Original language | English |
|---|---|
| Pages (from-to) | 255-277 |
| Number of pages | 23 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 32 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Nov 1 2001 |
| Externally published | Yes |
Keywords
- Dynamic environments
- Evolutionary algorithms
- Fuzzy behavior based control
- Fuzzy set based objective functions
- Nonholonomic mobile robot
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering