Time-optimal trajectory planning using a smart evolutionary algorithm with fuzzy inference system

Aydin S., Temeltas H.

IEEE International Symposium on Intelligent Control, Vancouver, Canada, 27 - 30 October 2002, pp.764-769 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/isic.2002.1157858
  • City: Vancouver
  • Country: Canada
  • Page Numbers: pp.764-769
  • Istanbul Technical University Affiliated: No

Abstract

Time optimal trajectories for mobile robot Nomad 200 is produced with a differential evolution - fuzzy inference system algorithm (DE-FIS). Shortest path is found by visibility graph method. This path is redefined to form a multi-constrained non-linear global optimization problem. This problem is solved by DE-FIS. FIS is used to learn the kinematics of the MR. Experiments are successfully implemented on Nomad 200.