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Design of a navigator for the optimized path-tracking of underwater ROVs using a nero-genetic fuzzy controller
, Article 2006 World Automation Congress, WAC'06, Budapest, 24 June 2006 through 26 June 2006 ; 2006 ; 1889335339 (ISBN); 9781889335339 (ISBN) ; Saghafi, M. H ; Fathy, M ; Soriani, M ; Sharif University of Technology
IEEE Computer Society
2006
Abstract
This paper proposes a sublime-optimum soft- computing based controller to follow a desired path with a desired velocity by mobile robots with identified dynamical behavior. This method consists of a fuzzy controller where a trained Neural Network sets its membership functions values in On-line mode. Training of the Network is done by a Genetic Algorithm for various vehicle initial positions and different path convexities in Off-line. After the training of the network, during vehicle motion, it retrieves sub-optimized fuzziness values and sends them to the fuzzy control algorithm according to the vehicle position. Meanwhile, the influential of the path convexity is considered in fuzziness of...