Development of a hybrid crisp-fuzzy logic algorithm optimised by genetic algorithms for path-planning of an autonomous mobile robot

Article type: Research Article

Authors: Fayad, C. | Webb, P.

Affiliations: School of Computer Science & IT, University of Nottingham, Jubilee Campus, Nottingham, Wollaton Road NG8 1BB, UK | School of Mechanical, Materials and Manufacturing Engineering, University of Nottingham, Nottingham NG7 2RD, UK

Note: [] Corresponding author. E-mail: carole.fayad@nottingham.ac.uk

Abstract: This paper deals with the problem of autonomous mobile robot navigating in unknown environments. The approach developed is reactive in a behaviour-based framework aimed at multiple obstacle avoidance. We use a novel hybrid logic integrating fuzzy and crisp to enable the robot with a human like decision-making ability and avoid failure when world set-ups mismatch with the fuzzy system designer expectancies. Finally, a genetic algorithm is used as means of optimised search within the space of the fuzzy parameters of the hybrid system.

Journal: Journal of Intelligent & Fuzzy Systems, vol. 17, no. 1, pp. 15-26, 2006