Intelligent motion planning by genetic algorithm with fuzzy critic

Abstract

A strategy for motion planning in robotics is proposed. The proposed strategy applies a genetic algorithm (GA) to optimize the motion planning. To evaluate the planned motion, the strategy also applies fuzzy logic to a fitness function. The fitness function is referred to as fuzzy critic. The fuzzy critic evaluates plans as populations in the GA with respect to multiple factors. Depending on the goals of the tasks, human operators can easily determine inference rules in the fuzzy critic because of the fuzzy logic. The strategy determines a path for a mobile robot which moves from a starting point to a goal point while avoiding obstacles in a work space and picking up loads on the way. Simulations illustrate the effectiveness of the proposed strategy.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>