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Proceedings Paper

Design of fuzzy logic controllers for genetic programming
Author(s): Ren Tong
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Paper Abstract

Genetic programming (GP) is applied to the design of fuzzy logic controllers (FLCs) for mobile robot path tracking. GP is applied to automatic discovery of full knowledge bases for use in fuzzy logic control applications. An extension to a rule learning GP system is presented that achieves this objective. In addition, GP is employed to handle selection of fuzzy set intersection operators (t-norms). The new GP system is applied to design a mobile robot path tracking controller and performance is shown to be comparable to that of a manually designed controller. GP was successfully applied to discover FLCs capable of steering a mobile robot to track straight-line paths in the plane. Instances of simultaneous evolution of membership functions and rules showed that GP was capable of evolving a FLC that demonstrated satisfactory responsiveness to various initial conditions while utilizing minimal human interface.

Paper Details

Date Published: 20 February 2006
PDF: 6 pages
Proc. SPIE 6041, ICMIT 2005: Information Systems and Signal Processing, 60411J (20 February 2006); doi: 10.1117/12.664338
Show Author Affiliations
Ren Tong, Southwest Univ. of Science and Technology (China)

Published in SPIE Proceedings Vol. 6041:
ICMIT 2005: Information Systems and Signal Processing
Yunlong Wei; Kil To Chong; Takayuki Takahashi, Editor(s)

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