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Intelligent Control Systems with LabVIEW 8

Một ứng dụng của ICTL Tối ưu hóa hệ thống Navigation cho robot di động Một hệ thống định vị dựa trên công nghệ Bluetooth được thiết kế để điều khiển một robot bốn chân trong môi trường không rõ có cảm biến siêu âm như đầu vào để tránh chướng ngại vật tĩnh và năng động. | 140 5 Genetic Algorithms and Genetic Programming Fig. 5.16 Example decision table Bi . Bn2 Ai . Ci i. . Ci N2 . Ani . . CNi i. . Cnì N2 in 5.3 IF x1 is Ai AND x2 is Bj THEN Ci j . 5.3 We can now assign indices to the linguistic values associated with elements of the set Ci j . We can later write the decision table as an integer string and convert those numbers to bits where the previously mentioned GAs are perfectly suitable to optimize the rule base. 5.11 An Application of the ICTL for the Optimization of a Navigation System for Mobile Robots A navigation system based on Bluetooth technology was designed for controlling a quadruped robot in unknown environments which has ultrasonic sensor as inputs for avoiding static and dynamic obstacles. The robot Zil I is controled by a fuzzy logic controller Sugeno Type which is shown in Fig. 2.24 and Zil I is shown in Fig. 5.17 the form of the membership functions for the inputs are triangular and the Fig. 5.17 Robot Zil I was controlled by a Fuzzy Logic Controller adjusted using Genetic Algo-rithmsC 5.11 ICTL for the Optimization of a Navigation System for Mobile Robots 141 Fig. 5.18 Triangular membership functions initial membership function s domain and shape are shown in Fig. 5.18. The block diagram of the fuzzy controller is shown in Sect. 5.11 ICTL for the Optimization of a Navigation System for Mobile Robots. The navigation system is based on a Takagi-Sugeno controller which is shown in Fig. 5.17. The form of the membership function is triangular and the initial limits are shown in Fig. 5.18. The block diagram of the fuzzy controller is shown in Fig. 5.19. Based on the scheme of optimization of fuzzy systems using GAs the fuzzy controller was optimized. Some initial individuals where created using expert knowledge and others were randomly created. In Fig. 5.20 we see the block diagram of the GA. Fig. 5.19 Block diagram of the Takagi-Sugeno controller Fig. 5.20 Block diagram of the GA 142 5 Genetic Algorithms and .