Hierarchical Fuzzy Control of the Pipe Robot Based on Genetic Algorithms

2007 
To adapt to complex environment,improve control performance and simplify the control complexity,a hierarchical adaptive fuzzy logic control of the pipe robot is presented.The fuzzy logic consequence is greatly simplified by dividing the multi-input into hierarchical inputs.The hierarchical structure reduces the number of rules.Applying genetic algorithms optimizes the parameters of the controller.The attained track is perfect.The simulation and experiment results show that the controller has good adaptabilities to avoid obstacle.The robot can be navigated by itself and walks steadily.
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