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Evolution of fuzzy controllers for robotic vehicles: the role of fitness function selection

Doitsidis Eleftherios, Tsourveloudis Nikolaos, Piperidis Savvas

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URIhttp://purl.tuc.gr/dl/dias/8B7A268B-9642-4158-9515-840FD38415F1-
Αναγνωριστικόhttps://doi.org/10.1007/s10846-009-9332-z-
Αναγνωριστικόhttps://link.springer.com/article/10.1007/s10846-009-9332-z-
Γλώσσαen-
Μέγεθος16 pagesen
ΤίτλοςEvolution of fuzzy controllers for robotic vehicles: the role of fitness function selectionen
ΔημιουργόςDoitsidis Eleftheriosen
ΔημιουργόςΔοϊτσιδης Ελευθεριοςel
ΔημιουργόςTsourveloudis Nikolaosen
ΔημιουργόςΤσουρβελουδης Νικολαοςel
ΔημιουργόςPiperidis Savvasen
ΔημιουργόςΠιπεριδης Σαββαςel
ΕκδότηςSpringer Verlagen
ΠερίληψηAn important issue not addressed in the literature, is related to the selection of the fitness function parameters which are used in the evolution process of fuzzy logic controllers for mobile robot navigation. The majority of the fitness functions used for controllers evolution are empirically selected and (most of times) task specified. This results to controllers which heavily depend on fitness function selection. In this paper we compare three major different types of fitness functions and how they affect the navigation performance of a fuzzy logic controlled real robot. Genetic algorithms are employed to evolve the membership functions of these controllers. Further, an efficiency measure is introduced for the systematic analysis and benchmarking of overall performance. This measure takes into account important performance results of the robot during experimentation, such as the final distance from target, the time needed to reach its final position, the time of sensor activation, the mean linear velocity e.t.c. In order to examine the validity of our approach a low cost mobile robot has been developed, which is used as a testbed.en
ΤύποςPeer-Reviewed Journal Publicationen
ΤύποςΔημοσίευση σε Περιοδικό με Κριτέςel
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by/4.0/en
Ημερομηνία2015-10-07-
Ημερομηνία Δημοσίευσης2009-
Θεματική ΚατηγορίαEvolutionary roboticsen
Θεματική ΚατηγορίαFuzzy logicen
Θεματική ΚατηγορίαMobile robotsen
Βιβλιογραφική ΑναφοράL. Doitsidis, N.C. Tsourveloudis, S. Piperidis, "Evolution of fuzzy controllers for robotic vehicles: the role of fitness function selection," J. Intell. Robot. Syst., vol. 56, no. 4, pp. 469–484, Apr. 2009. doi:10.1007/s10846-009-9332-zen

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