Abstract
This study endeavors to analyze the GA-Fuzzy approach and is an attempt to make it more practical, real-time and less computationally intensive. A new hybrid technique of using the GA-Fuzzy approach with a local search technique is presented and its efficacy viz a viz the GA-Fuzzy approach alone is demonstrated. It makes the existing technique more robust, efficient and computationally less expensive. The GA-Fuzzy approach converts an online problem of finding an obstacle-free, time optimal path for a mobile robot to an offline problem of optimizing a fuzzy rulebase using a genetic algorithm. Simulation results demonstrating the efficacy of the new design are presented.
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References
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Pratihar, D.K.: Path and Gait Generation of Legged Robots Using GA-Fuzzy Approach. PhD Disseration, Department of Mechanical Engineering, Indian Institute of Technology— Kanpur, May 1999 (1999).
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© 2002 Springer-Verlag Berlin Heidelberg
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Mohan, A., Deb, K. (2002). Genetic-Fuzzy Approach in Robot Motion Planning Revisited: Rigorous Testing and towards an Implementation. In: Pal, N.R., Sugeno, M. (eds) Advances in Soft Computing — AFSS 2002. AFSS 2002. Lecture Notes in Computer Science(), vol 2275. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45631-7_56
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DOI: https://doi.org/10.1007/3-540-45631-7_56
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Print ISBN: 978-3-540-43150-3
Online ISBN: 978-3-540-45631-5
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