An efficient data-driven fuzzy approach to the motion planning problem of a mobile robot
Fuzzy Sets and Systems - Special issue: Fuzzy set techniques for intelligent robotic systems
A genetic-fuzzy approach for mobile robot navigation among moving obstacles
International Journal of Approximate Reasoning
Learning reactive and planning rules in a motivationally autonomousanimat
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Evolution of homing navigation in a real mobile robot
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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This paper presents the design and simulation of an intelligent fuzzy controller to control the flight movement of an airplane being present in the midst of targeted missiles. The objective is to have the in-flight airplane, when an imminent collision danger occurs, move in a direction so as to avoid being hit by any of the targeted missiles. The airplane senses the environment around it, acquiring the coordinates of the missiles, and determines the nearest missile forward. The airplane, then, alters its movement direction in order to escape that missile within a specified time step. The fuzzy controller is designed off-line and it can then be used on-line. This design is a data-driven one and it is accomplished using a previously developed learning algorithm for the modeling of Mamdani-type fuzzy controllers. This is done, however, after addressing and tackling some challenging issues related to the 3-D to 2-D conversion, data derivation method and time step determination. The obtained FLC is then simulated and tested in a complex scenario and its reliability is emphasized.