Ιδρυματικό Αποθετήριο
Πολυτεχνείο Κρήτης
Πολυτεχνείο Κρήτης
EN
|
EL
| URI | http://purl.tuc.gr/dl/dias/8B7A268B-9642-4158-9515-840FD38415F1 | - |
| Αναγνωριστικό | https://doi.org/10.1007/s10846-009-9332-z | - |
| Αναγνωριστικό | https://link.springer.com/article/10.1007/s10846-009-9332-z | - |
| Γλώσσα | en | - |
| Μέγεθος | 16 pages | en |
| Τίτλος | Evolution of fuzzy controllers for robotic vehicles: the role of fitness function selection | en |
| Δημιουργός | Doitsidis Eleftherios | en |
| Δημιουργός | Δοϊτσιδης Ελευθεριος | el |
| Δημιουργός | Tsourveloudis Nikolaos | en |
| Δημιουργός | Τσουρβελουδης Νικολαος | el |
| Δημιουργός | Piperidis Savvas | en |
| Δημιουργός | Πιπεριδης Σαββας | el |
| Εκδότης | Springer Verlag | en |
| Περίληψη | An important issue not addressed in the literature, is related to the selection of the fitness function parameters which are used in the evolution process of fuzzy logic controllers for mobile robot navigation. The majority of the fitness functions used for controllers evolution are empirically selected and (most of times) task specified. This results to controllers which heavily depend on fitness function selection. In this paper we compare three major different types of fitness functions and how they affect the navigation performance of a fuzzy logic controlled real robot. Genetic algorithms are employed to evolve the membership functions of these controllers. Further, an efficiency measure is introduced for the systematic analysis and benchmarking of overall performance. This measure takes into account important performance results of the robot during experimentation, such as the final distance from target, the time needed to reach its final position, the time of sensor activation, the mean linear velocity e.t.c. In order to examine the validity of our approach a low cost mobile robot has been developed, which is used as a testbed. | en |
| Τύπος | Peer-Reviewed Journal Publication | en |
| Τύπος | Δημοσίευση σε Περιοδικό με Κριτές | el |
| Άδεια Χρήσης | http://creativecommons.org/licenses/by/4.0/ | en |
| Ημερομηνία | 2015-10-07 | - |
| Ημερομηνία Δημοσίευσης | 2009 | - |
| Θεματική Κατηγορία | Evolutionary robotics | en |
| Θεματική Κατηγορία | Fuzzy logic | en |
| Θεματική Κατηγορία | Mobile robots | en |
| Βιβλιογραφική Αναφορά | L. Doitsidis, N.C. Tsourveloudis, S. Piperidis, "Evolution of fuzzy controllers for robotic vehicles: the role of fitness function selection," J. Intell. Robot. Syst., vol. 56, no. 4, pp. 469–484, Apr. 2009. doi:10.1007/s10846-009-9332-z | en |
Copyright © DIAS 2013
