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作者 Dupre, Michael Edward
書名 GA optimized fuzzy control of an autonomous mobile robot
國際標準書號 9780494305614
book jacket
說明 105 p
附註 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
School code: 0081
Host Item Masters Abstracts International 46-02
主題 Engineering, Robotics
Alt Author University of Guelph (Canada)
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