Adaptive interval type-2 fuzzy logic controller for autonomous mobile robot
A Type-2 Fuzzy logic controller adapted with genetic algorithm, called type-2 genetic fuzzy logic controller (T2GFLC), is presented in this paper to handle uncertainty with dynamic optimal learning. Genetic algorithm is employed to simultaneous design of type-2 membership functions and rule sets for...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Green University Press
2014
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/39780/ http://irep.iium.edu.my/39780/ http://irep.iium.edu.my/39780/1/J16-02_Adaptive_FLC_for_Mobile_Robot_GreenUnv.pdf |
| Summary: | A Type-2 Fuzzy logic controller adapted with genetic algorithm, called type-2 genetic fuzzy logic controller (T2GFLC), is presented in this paper to handle uncertainty with dynamic optimal learning. Genetic algorithm is employed to simultaneous design of type-2 membership functions and rule sets for type-2 fuzzy logic controllers. Traditional fuzzy logic controllers (FLCs), often termed as type-1 fuzzy logic systems using type-1 fuzzy sets, cannot handle large amount of uncertainties present in many real environments. Therefore, recently type-2 FLC has been proposed. The type-2 FLC can be considered as a collection of different embedded type-1 FLCs. However, the current design process of type-2 FLC is not automatic and relies on human experts. The purpose of our study is to make the design process automatic. Moreover, to reduce the computation time of T2GFLC an efficient type-reduction strategy for interval type-2 fuzzy set is also introduced. The evolved type-2 FLCs can deal with large amount of uncertainties and exhibit better performance for the mobile robot. Furthermore, it has outperformed their type-1 counterparts as well as the adaptive type-1 FLCs. |
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