Hierarchical interval type-2 fuzzy path planning based on genetic optimization

被引：13
|
作者：
Zhao, Tao [1 ]
Xiang, Yunfang [1 ]
Dian, Songyi [1 ]
Guo, Rui [2 ]
Li, Shengchuan [3 ]
机构：
[1] Sichuan Univ, Coll Elect Engn, Chengdu 610065, Peoples R China
[2] State Grid Shandong Elect Power Co, Jinan, Peoples R China
[3] State Grid Liaoning Elect Power Co Ltd, Elect Power Res Inst, Shenyang, Peoples R China
来源：
JOURNAL OF INTELLIGENT & FUZZY SYSTEMS | 2020年 / 39卷 / 01期
基金：
国家重点研发计划;
关键词：
Mobile robot; path planning; interval type-2 fuzzy; hierarchical fuzzy; genetic optimization; MOBILE ROBOT NAVIGATION; SYSTEMS; DESIGN; LOGIC; STABILIZATION; CONTROLLER;
D O I：
10.3233/JIFS-191864
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper focuses on the path planning of mobile robot. Fuzzy logic is employed to deal with the uncertainty in the process of path planning. The hierarchical interval type-2 fuzzy method is obtained by combining the hierarchical fuzzy and interval type-2 fuzzy method, which is used in the path planning of mobile robot. Hierarchical fuzzy structure can simplify complex system and get fuzzy rules more easily. For multi input system, it can also solve the problem of rule explosion. Compared with type-1 fuzzy, interval type-2 fuzzy can better deal with the uncertainty in the process of path planning. Finally, in order to get a better path, genetic algorithm is used to optimize the membership function in the fuzzy path planner. Through the simulation experiment, the proposed hierarchical type-2 fuzzy planning method can effectively solve the path planning problem. Compared with the type-1 fuzzy method, the interval type-2 fuzzy method and the hierarchical type-1 fuzzy method, the proposed method obtains better results.
引用
收藏
页码：937 / 948
页数：12
相关论文
共 50 条
  • [21] Fuzzy Multiple Criteria Hierarchical Group Decision-Making Based on Interval Type-2 Fuzzy Sets
    Chen, Shyi-Ming
    Lee, Li-Wei
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 2010, 40 (05): : 1120 - 1128
  • [22] Optimization of Interval Type-2 and Type-1 Fuzzy Integrators in Ensembles of ANFIS Models with Genetic Algorithms
    Soto, Jesus
    Melin, Patricia
    Castillo, Oscar
    2013 WORLD CONGRESS ON NATURE AND BIOLOGICALLY INSPIRED COMPUTING (NABIC), 2013, : 41 - 46
  • [23] Optimization of Interval Type-2 and Type-1 Fuzzy Integrators in Ensembles of ANFIS Models with Genetic Algorithms
    Soto, Jesus
    Melin, Patricia
    Castillo, Oscar
    2013 MEXICAN INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE (ENC 2013), 2013, : 99 - 104
  • [24] Fuzzy identification based on monotonicity and interval type-2 Fuzzy Logic
    Wang, Tiechao
    Yi, Jianqiang
    Li, Chengdong
    ICIC Express Letters, 2011, 5 (4 A): : 1107 - 1113
  • [25] Fuzzy Feature Selection Based On Interval Type-2 Fuzzy Sets
    Cherif, Sahar
    Baklouti, Nesrine
    Alimi, Adel
    Snasel, Vaclav
    NINTH INTERNATIONAL CONFERENCE ON MACHINE VISION (ICMV 2016), 2017, 10341
  • [26] An interval type-2 fuzzy perceptron
    Rhee, FCH
    Hwang, C
    PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOL 1 & 2, 2002, : 1331 - 1335
  • [27] Interval Type-2 Fuzzy Classifier Design Using Genetic Algorithms
    Pimenta, Adinovam H. M.
    Camargo, Helosia A.
    2010 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2010), 2010,
  • [28] Genetic-algorithm-based type reduction algorithm for interval type-2 fuzzy logic controllers
    Lu, Tzyy-Chyang
    ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, 2015, 42 : 36 - 44
  • [29] Optimization of interval type-2 fuzzy systems for image edge detection
    Gonzalez, Claudia I.
    Melin, Patricia
    Castro, Juan R.
    Castillo, Oscar
    Mendoza, Olivia
    APPLIED SOFT COMPUTING, 2016, 47 : 631 - 643
  • [30] On type-2 fuzzy relations and interval-valued type-2 fuzzy sets
    Hu, Bao Qing
    Wang, Chun Yong
    FUZZY SETS AND SYSTEMS, 2014, 236 : 1 - 32
12345