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Online Self-Evolving Fuzzy Controller for Autonomous Mobile Robots

Research output: Contribution in Book/Report/ProceedingsConference contribution

Published

Publication date04/2011
Host publicationEvolving and Adaptive Intelligent Systems (EAIS), 2011 IEEE Workshop on
PublisherIEEE
Pages100-107
Number of pages8
ISBN (Print)978-1-4244-9978-6
Original languageEnglish

Conference

ConferenceIEEE
CountryFrance
CityParis
Period11/04/1115/04/11

Conference

ConferenceIEEE
CountryFrance
CityParis
Period11/04/1115/04/11

Abstract

In this paper, an online self-evolving fuzzy controller is proposed for an autonomous leader/follower. The self-evolving controller starts with a simple configuration and learns from its own actions while controlling the mobile robot during the leader following behaviour. A traditional Takagi-Sugeno type fuzzy controller is also implemented and compared with the proposed controller to verify the reliability and performance of the self-evolving controller. Experiments are carried out with a real mobile robot Pioneer 3DX at Lancaster University.