PSO-based fuzzy image mobile robot systems design

Abstract

The novel particle swarm optimization (PSO) learning algorithm is applied to automatically generate the fuzzy systems with the image processing technology in achieving the adaptability of the embedded mobile robot. The omni-directional image mathematical model for the mobile robot system is established to represent the indoor environment. The embedded fuzzy control rules are automatically extracted by the direct of the flexible fitness function for multiple objectives of avoiding obstacles, selecting suitable fuzzy rules and approaching the desired targets at the same time. The illustrated examples with various initial positions for the discussed environment map containing the defined block is applied to demonstrate that the proposed mobile robot with the selected fuzzy rules can overcome the obstacles and achieve the targets as soon as possible.