Learning of fuzzy‐behaviours using Particle Swarm Optimisation in behaviour‐based mobile robot
Source: International Journal of Intelligent Systems Technologies and Applications, Volume 5, Numbers 1-2, 5 May 2008 , pp. 49-67(19)
Publisher: Inderscience Publishers
Abstract:Behaviour‐based mobile robots should have an ideal controller to generate perfect behaviour action. A schema to overcome these problems is provided, known as Fuzzy Behaviour‐based robot. However, tuning fuzzy parameters is not a simple effort. This paper presents a technique to tune automatically fuzzy Rule Bases and fuzzy Membership Functions (MF) by Particle Swarm Optimisation (PSO), named as Particle Swarm Fuzzy Controller (PSFC). The behaviours are controlled by PSFC to generate individual command action. Later, a Context‐Dependent Blending (CDB) based on meta‐fuzzy rules coordinates the commands to produce final control action. A Sigmoid Decreasing Inertia Weight has been proposed for a good balancing of global and local searches for obtaining good convergence speed and best accuracy of PSO algorithm. The algorithm is validated using parameters of MagellanPro mobile robot and tested by simulation using MATLAB/SIMULINK. Simulation results show that the proposed model offers hopeful advantages and has improved performance.
Keywords: COMPUTING JOURNALS; Computing Science, Applications and Software; Electronic Systems, Control and Artificial Intelligence; Materials and Manufacturing; Systems Engineering; TECHNICAL JOURNALS
Document Type: Research Article
Affiliations: 1: Centre of Artificial Intelligence and Robotics (CAIRO), Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, 81310 Johor Bahru, Malaysia. 2: Centre of Artificial Intelligence and Robotics (CAIRO), Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, 81310 Johor Bahru, Malaysia
Publication date: May 5, 2008
- Intelligent systems refer broadly to computer embedded or controlled systems, machines and devices that possess a certain degree of intelligence. International Journal of Intelligent Systems Technologies and Applications, a peer-reviewed double-blind refereed journal, publishes original papers featuring innovative and practical technologies related to the design and development of intelligent systems. Its coverage also includes papers on intelligent systems applications in areas such as manufacturing, bioengineering, agriculture, services, home automation and appliances, medical robots and robotic rehabilitations, space exploration, etc.
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