Development of a hybrid crisp-fuzzy logic algorithm optimised by genetic algorithms for path-planning of an autonomous mobile robot

Authors:
C. Fayad;P. Webb
Affiliations:
School of Computer Science & IT, University of Nottingham, Jubilee Campus, Nottingham, Wollaton Road NG8 1BB, UK;School of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham NG7 2RD, UK
Venue:
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology
Year:
2006

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Abstract

This paper deals with the problem of autonomous mobile robot navigating in unknown environments. The approach developed is reactive in a behaviour-based framework aimed at multiple obstacle avoidance. We use a novel hybrid logic integrating fuzzy and crisp to enable the robot with a human like decision-making ability and avoid failure when world set-ups mismatch with the fuzzy system designer expectancies. Finally, a genetic algorithm is used as means of optimised search within the space of the fuzzy parameters of the hybrid system.