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dc.contributor.authorJhang, Jyun-Yuen_US
dc.contributor.authorLin, Cheng-Jianen_US
dc.contributor.authorLin, Chin-Tengen_US
dc.contributor.authorYoung, Kuu-Youngen_US
dc.date.accessioned2019-04-02T06:00:00Z-
dc.date.available2019-04-02T06:00:00Z-
dc.date.issued2018-10-01en_US
dc.identifier.issn1598-6446en_US
dc.identifier.urihttp://dx.doi.org/10.1007/s12555-017-0156-5en_US
dc.identifier.urihttp://hdl.handle.net/11536/148311-
dc.description.abstractThis 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.en_US
dc.language.isoen_USen_US
dc.subjectMobile roboten_US
dc.subjectnavigation controlen_US
dc.subjectparticle swarm optimizationen_US
dc.subjecttype-2 fuzzy neural controlleren_US
dc.subjectwall-following controlen_US
dc.titleNavigation Control of Mobile Robots Using an Interval Type-2 Fuzzy Controller Based on Dynamic-group Particle Swarm Optimizationen_US
dc.typeArticleen_US
dc.identifier.doi10.1007/s12555-017-0156-5en_US
dc.identifier.journalINTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMSen_US
dc.citation.volume16en_US
dc.citation.spage2446en_US
dc.citation.epage2457en_US
dc.contributor.department電機工程學系zh_TW
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentDepartment of Electrical and Computer Engineeringen_US
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000447512000041en_US
dc.citation.woscount1en_US
Appears in Collections:Articles