Path planning for a mobile robot using fuzzy logic controller tuned by GA

Abstract

This paper presents a fuzzy logic controller tuned by genetic algorithm (GA) for path planning near the optimal time to avoid obstacles in unknown environments. A GA is applied to modify the input and output membership functions of the fuzzy controller. A Matlab application, Kiks II, is used to simulate a Khepera II robot. Also, this approach is implemented by Khepera II robot. It is also shown that the proposed method outperforms the FLC approach.