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作者 Tan, Suo
書名 A GA-based fuzzy controller for mobile robots in dynamic environments with moving obstacles
國際標準書號 9780494583340
book jacket
說明 131 p
附註 Source: Masters Abstracts International, Volume: 48-05, page: 3174
Thesis (M.A.Sc.)--University of Guelph (Canada), 2010
In this thesis, a fuzzy-inference system with an accelerate/brake (A/B) module is developed for real-time navigation of a mobile robot. The A/B module of the proposed system provides the mobile robot with the capability of making human-like decisions as it moves toward a target. Under the control of the fuzzy inference system, the robot can perform well in avoiding both static and moving obstacles, along a reasonably short path. In addition, a genetic algorithm (GA)-based fuzzy-inference control system with an A/B module is developed for a mobile robot in complex and dynamic environments. Based on the proposed fuzzy-inference system, a GA module is designed to obtain near-optimal parameters of the membership functions, which improves the performance of the fuzzy-inference system. The GA can effectively tune the control parameters without suffering from local minima. The effectiveness of the proposed approaches are demonstrated by simulation studies. The proposed fuzzy controller is successfully implemented on a real mobile robot for wall following and obstacle avoidance
School code: 0081
Host Item Masters Abstracts International 48-05
主題 Engineering, Robotics
Engineering, System Science
Artificial Intelligence
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0790
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Alt Author University of Guelph (Canada)
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