Navigation of a Fuzzy-Controlled Wheeled Robot Through the Combination of Expert Knowledge and Data-Driven Multiobjective Evolutionary Learning

This article proposes a navigation scheme for a wheeled robot in unknown environments. The navigation scheme consists of obstacle boundary following (OBF), target seeking (TS), and vertex point seeking (VPS) behaviors and a behavior supervisor. The OBF behavior is achieved by a fuzzy controller (FC)...

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Veröffentlicht in:IEEE transactions on cybernetics Jg. 52; H. 8; S. 7388 - 7401
Hauptverfasser: Juang, Chia-Feng, Chou, Ching-Yu, Lin, Chin-Teng
Format: Journal Article
Sprache:Englisch
Veröffentlicht: United States IEEE 01.08.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Ant colony optimization
Barriers
Behavior
Coders
Data-driven fuzzy systems
evolutionary fuzzy control
Fuzzy control
Localization
Localization method
Mobile robots
multiobjective optimization algorithms
Multiple objective analysis
Navigation
Obstacle avoidance
Optimization
PD control
Proportional integral derivative
robot navigation
Robot sensing systems
Robots
Task analysis
Unknown environments
ISSN:2168-2267, 2168-2275, 2168-2275
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Zusammenfassung:This article proposes a navigation scheme for a wheeled robot in unknown environments. The navigation scheme consists of obstacle boundary following (OBF), target seeking (TS), and vertex point seeking (VPS) behaviors and a behavior supervisor. The OBF behavior is achieved by a fuzzy controller (FC). This article formulates the FC design problem as a new constrained multiobjective optimization problem and finds a set of nondominated FC solutions through the combination of expert knowledge and data-driven multiobjective ant colony optimization. The TS behavior is achieved by new fuzzy proportional-integral-derivative (PID) and proportional-derivative (PD) controllers that control the orientation and speed of the robot, respectively. The VPS behavior is proposed to shorten the navigation route by controlling the robot to move toward a new subgoal determined from the vertex point of an obstacle. A new behavior supervisor that manages the switching among the OBF, TS, and VPS behaviors in unknown environments is proposed. In the navigation of a real robot, a new robot localization method through the fusion of encoders and an infrared localization sensor using a particle filter is proposed. Finally, this article presents simulations and experiments to verify the feasibility and advantages of the navigation scheme.
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ISSN:2168-2267
2168-2275
2168-2275
DOI:10.1109/TCYB.2020.3041269