Optimal Fuzzy Controllers for Multi Mobile Robot Navigation
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BeschreibungIn this book, a new optimization technique for Interval Type-2 Fuzzy Logic Controller is introduced which is called "Optimal Defuzzification." This method uses an optimization algorithm instead of the Defuzzification stage to choose the best value inside the Type-1 Fuzzy interval set according to an objective function rather than averaging the borders of that set. The optimization algorithms used in this method are the Particle Swarm Optimizatin (PSO) presented by (Kennedy and Eberhart, 1998) and the Artificial Bee Colony (ABC) presented by (Karaboga, 2005). This optimized fuzzy controller was used to control a group of nonholonomic differential-drive mobile robots in different completely unknown 2-D environments with obstacles. A dynamic mathematical model was used to simulate the robots along with a collision avoidance technique between the moving agents through Velocity Obstacle Algorithm (VO) presented by (Fiorini and Shiller, 1993). Results show that using the Defuzzification-optimized fuzzy controller helps in choosing the collision-free path for every mobile robot to reach its target and avoid colliding with other robots than using the ordinary defuzzified fuzzy controller.
PortraitBorn in Baghdad, Iraq in 1980. Got B.Sc and M.Sc in Computer Engineering from University of Baghdad, College of Engineering in 2001 and 2004 respectively. Got Ph.D in Control and Computer Systems from University of Basrah, College of Engineering in 2014. His Scientific interests include:Computational Intelligence, Optimization Methods and Robotics.
Untertitel: A new method in optimizing Interval Type-2 Fuzzy Logic Controllers using "Optimal Defuzzification". Paperback. Sprache: Englisch.
Verlag: LAP Lambert Academic Publishing
Erscheinungsdatum: Juli 2015
Seitenanzahl: 136 Seiten