標題: | Navigation Control of Mobile Robots Using an Interval Type-2 Fuzzy Controller Based on Dynamic-group Particle Swarm Optimization |
作者: | Jhang, Jyun-Yu Lin, Cheng-Jian Lin, Chin-Teng Young, Kuu-Young 電機工程學系 電控工程研究所 Department of Electrical and Computer Engineering Institute of Electrical and Control Engineering |
關鍵字: | Mobile robot;navigation control;particle swarm optimization;type-2 fuzzy neural controller;wall-following control |
公開日期: | 1-十月-2018 |
摘要: | This paper presents an effective navigation control method for mobile robots in an unknown environment. The proposed behavior manager (BM) switches between two behavioral control patterns, wall-following behavior (WFB) and toward-goal behavior (TGB), based on the relationship between the mobile robot and the unknown environment. An interval type-2 fuzzy neural controller with a dynamic-group particle swarm optimization (DGPSO) algorithm is proposed to provide WFB control and obstacle avoidance for mobile robots. In the WFB learning process, the input signal of a controller is the distance between the wall and the sonar sensors, and its output signal is the speed of two wheels of a mobile robot. A fitness function, which operates on the total distance traveled by the mobile robot, distance from the side wall, angle to the side wall, and moving speed, evaluates the WFB performance of the mobile robot. In addition, an escape mechanism is proposed to avoid a dead cycle. Experimental results reveal that the proposed DGPSO is superior to other methods in WFB and navigation control. |
URI: | http://dx.doi.org/10.1007/s12555-017-0156-5 http://hdl.handle.net/11536/148311 |
ISSN: | 1598-6446 |
DOI: | 10.1007/s12555-017-0156-5 |
期刊: | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS |
Volume: | 16 |
起始頁: | 2446 |
結束頁: | 2457 |
顯示於類別: | 期刊論文 |