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Könyv címe:

Optimal Fuzzy Controllers for Multi Mobile Robot Navigation

A new method in optimizing Interval Type-2 Fuzzy Logic Controllers using "Optimal Defuzzification"

LAP LAMBERT Academic Publishing (11.06.2015 )

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ISBN-13:

978-3-659-74157-9

ISBN-10:
3659741574
EAN:
9783659741579
Könyv nyelve:
angol
Ismertető:
In this book, a new optimization technique for Interval Type-2 Fuzzy Logic Controller is introduced which is called "Optimal Defuzzification." This method uses an optimization algorithm instead of the Defuzzification stage to choose the best value inside the Type-1 Fuzzy interval set according to an objective function rather than averaging the borders of that set. The optimization algorithms used in this method are the Particle Swarm Optimizatin (PSO) presented by (Kennedy and Eberhart, 1998) and the Artificial Bee Colony (ABC) presented by (Karaboğa, 2005). This optimized fuzzy controller was used to control a group of nonholonomic differential-drive mobile robots in different completely unknown 2-D environments with obstacles. A dynamic mathematical model was used to simulate the robots along with a collision avoidance technique between the moving agents through Velocity Obstacle Algorithm (VO) presented by (Fiorini and Shiller, 1993). Results show that using the Defuzzification-optimized fuzzy controller helps in choosing the collision-free path for every mobile robot to reach its target and avoid colliding with other robots than using the ordinary defuzzified fuzzy controller.
Kiadó:
LAP LAMBERT Academic Publishing
Weboldal:
https://www.lap-publishing.com/
Szerezte:
Ziyad Allawi
Oldalszám:
136
Kiadja:
11.06.2015
Raktárkészlet:
Raktáron
Kategória:
Technológia
Ár:
55,90 €
Kulcsszavak:
Fuzzy Control, mobile robotics, Optimization Methods, Robot Navigation

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