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

页码：937 / 948

页数：12

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