Generation of fuzzy rules and DNA coding method for cooperative behavior of autonomous mobile robots (AMRs)

Jang-hyun Kim; Jin-bae Park; Hyun-seok Yang; Yong-pil Park

doi:10.1117/12.664708

2 May 2006 Generation of fuzzy rules and DNA coding method for cooperative behavior of autonomous mobile robots (AMRs)

Jang-hyun Kim, Jin-bae Park, Hyun-seok Yang, Yong-pil Park

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423J (2006) https://doi.org/10.1117/12.664708
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

Complex "lifelike" behaviors are composed of local interactions of individuals under fundamental rules of artificial life. In this paper, fundamental rules for cooperative group behaviors, "flocking" and "arrangement" of multiple autonomouse mobile robots were represented by a small number of fuzzy rules by Subtractive clustering algorithm and DNA coding method. Fuzzy rules in Sugeno type and their related parameters were automatically generated from clustering inputoutput data obtained from the algorithms for the group behaviors. Simulations demonstrate the fuzzy rules successfully realize group intelligence of mobile robots.

Citation Download Citation

Jang-hyun Kim, Jin-bae Park, Hyun-seok Yang, and Yong-pil Park "Generation of fuzzy rules and DNA coding method for cooperative behavior of autonomous mobile robots (AMRs)", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423J (2 May 2006); https://doi.org/10.1117/12.664708

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