The Role of Fuzzy Logic Control in Evolutionary Robotics
نویسنده
چکیده
This paper presents an evolutionary learning algorithm to facilitate the design of fuzzy controllers for mobile robots. It discusses the concepts, feasibility, bene ts and limitations of current evolutionary techniques for fuzzy rule discovery and tuning. We propose an evolution strategy that optimizes the gain factors in the conclusion part of TakagiSugeno-Kang type fuzzy rules. We describe two applications of genetic-fuzzy systems in detail, adapting a wall-following behavior of a mobile robot and designing an autopilot for a small-size model helicopter.
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