{"title":"自主移动机器人在线自进化模糊控制器","authors":"Pouria Sadeghi-Tehran, P. Angelov","doi":"10.1109/EAIS.2011.5945918","DOIUrl":null,"url":null,"abstract":"In this paper, an online self-evolving fuzzy controller is proposed for an autonomous leader/follower. The self-evolving controller starts with a simple configuration and learns from its own actions while controlling the mobile robot during the leader following behaviour. A traditional Takagi-Sugeno type fuzzy controller is also implemented and compared with the proposed controller to verify the reliability and performance of the self-evolving controller. Experiments are carried out with a real mobile robot Pioneer 3DX at Lancaster University.","PeriodicalId":243348,"journal":{"name":"2011 IEEE Workshop on Evolving and Adaptive Intelligent Systems (EAIS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"16","resultStr":"{\"title\":\"Online self-evolving fuzzy controller for autonomous mobile robots\",\"authors\":\"Pouria Sadeghi-Tehran, P. Angelov\",\"doi\":\"10.1109/EAIS.2011.5945918\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, an online self-evolving fuzzy controller is proposed for an autonomous leader/follower. The self-evolving controller starts with a simple configuration and learns from its own actions while controlling the mobile robot during the leader following behaviour. A traditional Takagi-Sugeno type fuzzy controller is also implemented and compared with the proposed controller to verify the reliability and performance of the self-evolving controller. Experiments are carried out with a real mobile robot Pioneer 3DX at Lancaster University.\",\"PeriodicalId\":243348,\"journal\":{\"name\":\"2011 IEEE Workshop on Evolving and Adaptive Intelligent Systems (EAIS)\",\"volume\":\"12 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-04-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"16\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 IEEE Workshop on Evolving and Adaptive Intelligent Systems (EAIS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/EAIS.2011.5945918\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 IEEE Workshop on Evolving and Adaptive Intelligent Systems (EAIS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EAIS.2011.5945918","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Online self-evolving fuzzy controller for autonomous mobile robots
In this paper, an online self-evolving fuzzy controller is proposed for an autonomous leader/follower. The self-evolving controller starts with a simple configuration and learns from its own actions while controlling the mobile robot during the leader following behaviour. A traditional Takagi-Sugeno type fuzzy controller is also implemented and compared with the proposed controller to verify the reliability and performance of the self-evolving controller. Experiments are carried out with a real mobile robot Pioneer 3DX at Lancaster University.
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