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

Aydin S., Temeltas H.

IEEE International Symposium on Intelligent Control, Vancouver, Kanada, 27 - 30 Ekim 2002, ss.764-769 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/isic.2002.1157858
  • Basıldığı Şehir: Vancouver
  • Basıldığı Ülke: Kanada
  • Sayfa Sayıları: ss.764-769
  • İstanbul Teknik Üniversitesi Adresli: Hayır

Özet

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.