The Journal of Information Technology (정보학연구)
- Volume 5 Issue 4
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- Pages.73-79
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- 2002
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- 1229-3024(pISSN)
Fuzzy Controller Design of 2 D.O.F of Wheeled Mobile Robot using Niche Meta Genetic Algorithm
Niche Meta 유전 알고리즘을 이용한 2자유도 이동 로봇의 퍼지 제어기 설계
- Kim Sung-Hoe (Dept. of Electric & Information Control Engineering, Myongji University) ;
- Kim Ki-Yeoul (Dept. of Electric & Information Control Engineering, Myongji University)
- Published : 2002.12.01
Abstract
In this paper, I will propose the Niche-Meta Genetic Algorithm that has a multi-mutation operator for design of fuzzy controller. The gene in the proposed algorithm is formed by several parameters that represent the crossover rate, mutation rate and input-output membership functions. The optimization of fuzzy membership function is performed with local search on sub-population and the optimal structure is constructed with global search on total-population. The multi-mutation is selected under basis of the result of local evolution. A simulation for 2 D.O.F wheeled-mobile robot is showed to prove the efficiency of the proposed algorithm
본 논문에서는 퍼지 제어기의 설계를 위한 다중 돌연변이 연산자를 갖는 Niche Meta 유전 알고리즘을 제안한다. 제안된 알고리즘에서 유전자는 유전 알고리즘에 사용되는 교배율이나 돌연변이율과 같은 구조 매개변수와 퍼지 제어기의 입
Keywords