Intelligent motion planning by genetic algorithm with fuzzy critic
作者： T. Shibata , T. Fukuda
关键词: Fuzzy logic 、 Genetic algorithm 、 Adaptive neuro fuzzy inference system 、 Mathematics 、 Neuro-fuzzy 、 Artificial intelligence 、 Motion planning 、 Defuzzification 、 Fuzzy set operations 、 Fitness function
摘要: A strategy for motion planning in robotics is proposed. The proposed applies a genetic algorithm (GA) to optimize the planning. To evaluate planned motion, also fuzzy logic fitness function. function referred as critic. critic evaluates plans populations GA with respect multiple factors. Depending on goals of tasks, human operators can easily determine inference rules because logic. determines path mobile robot which moves from starting point goal while avoiding obstacles work space and picking up loads way. Simulations illustrate effectiveness strategy. >
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