Evolutionary Learning of a Fuzzy Behavior Based Controller for a Nonholonomic Mobile Robot in a Class of Dynamic Environments
- Cite this article as:
- Nanayakkara, D.P.T., Watanabe, K., Kiguchi, K. et al. Journal of Intelligent and Robotic Systems (2001) 32: 255. doi:10.1023/A:1013939308620
This paper presents an approach for evolving optimum behaviors for a nonholonomic mobile robot in a class of dynamic environments. A new evolutionary algorithm reflecting some powerful features in the natural evolutionary process to have flexibility to deal with changes in the environment is used to evolve optimum behaviors. Furthermore, a fuzzy set based multi-objective fitness evaluation function is adopted in the evolutionary algorithm. The multi-objective evaluation function is designed so that it allows incorporating complex linguistic features that a human observer would desire in the behaviors of the mobile robot movements. To illustrate the effectiveness of the proposed method, simulation results are compared using a conventional evolutionary algorithm.