A novel technique to design a fuzzy logic controller using Q(λ)-learning and genetic algorithms in the pursuit-evasion game

Authors:
Sameh F. Desouky;Howard M. Schwartz
Affiliations:
Department of Systems and Computer Engineering, Carleton University, Ottawa, Canada;Department of Systems and Computer Engineering, Carleton University, Ottawa, Canada
Venue:
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Year:
2009

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Abstract

This paper presents a novel technique to tune the parameters of a fuzzy logic controller using a combination of reinforcement learning and genetic algorithms. The proposed technique is called a Q(λ)-learning based genetic fuzzy logic controller (QLBGFLC). The proposed technique is applied to a pursuit-evasion game in which the pursuer does not know its control strategy. We assume that we do not even have a simplistic PD controller strategy. The learning goal for the pursuer is to self-learn its control strategy. The pursuer should do that on-line by interaction with the environment; in this case the evader. Our proposed technique is compared with the optimal strategy, Q(λ)-learning only, and unsupervised genetic algorithm learning. Computer simulations show the usefulness of the proposed technique.