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GA optimized fuzzy control of an aut...

Dupre, Michael Edward.

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GA optimized fuzzy control of an autonomous mobile robot.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	GA optimized fuzzy control of an autonomous mobile robot./
作者:	Dupre, Michael Edward.
面頁冊數:	105 p.
附註:	Source: Masters Abstracts International, Volume: 46-02, page: 1128.
Contained By:	Masters Abstracts International46-02.
標題:	Engineering, Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR30561
ISBN:	9780494305614

GA optimized fuzzy control of an autonomous mobile robot.
Dupre, Michael Edward.

GA optimized fuzzy control of an autonomous mobile robot. - 105 p.

Source: Masters Abstracts International, Volume: 46-02, page: 1128.

Thesis (M.Sc.)--University of Guelph (Canada), 2007.

In this thesis, a unique two-stage fuzzy controller for an autonomous mobile robot is proposed. An unknown environment presents many challenges for a robot operating with only a limited sensor range. Environments contain objects of various size which can be situated in any location. In some cases, narrow passageways must be navigated by a robot in order for it to obtain its goal. It is with these challenges in mind that the two-stage controller was designed. We introduce a freespace parameter, which is a measure of the restrictiveness of the immediate environment. The incorporation of this parameter allows a robot to move at a speed suitable for navigation in its immediate surroundings. Parameters affecting the robot's performance are identified and optimized by use of a genetic algorithm (GA) and a special training environment. Membership functions, sensor weights, and behaviour-switching threshold values are all optimized through the GA process.

ISBN: 9780494305614Subjects--Topical Terms:

1018454
Engineering, Robotics.

GA optimized fuzzy control of an autonomous mobile robot.
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