Using an Adaptive Fuzzy Neural Network Based on a Multi-Strategy-Based Artificial Bee Colony for Mobile Robot Control
Abstract
:1. Introduction
2. The Structure of Pioneer 3-DX Mobile Robot
3. The Proposed Controller and Its Related Learning Algorithm
3.1. An Adaptive Fuzzy Neural Network (AFNN)
3.2. Proposed Multi-Strategy Artificial Bee Colony Learning Algorithm
- Step1:
- Initial SN individual of population. Each individual has D dimensions, and each individual of each dimension is in accordance with the evolutional problem that defines the border. It is random a number from the defined border. In this study, the initial fuzzy rule coding for AFNN and more AFNN of a set is called population. Figure 4 shows an AFNN applied to mobile robots for navigation control.
- Step2:
- Next, according to the evolutional problem, an appropriate evaluation function is designed, which is detailed in the next section.
- Step3:
- Next, multiple strategy selection is performed. Each strategy of the success and failure number is used to calculate each strategy of probability. Initial success and failure number are set as zero. A fuzzification operation serves as the Gaussian membership function:
- Step4:
- The algorithm applies the probability and select strategy, which evaluates a new individual. It acquires a new fitness and greedy select best individual; according to the greedy selection of the result that saves each strategy of success and failure number.
- Step5:
- Thereafter, the algorithm conducts the onlooker bee before. It is necessary to calculate the probability with which each individual is selected. Let the onlooker bee appropriately select more best individuals of fitness than the individuals explored and developed again.
- Step6:
- It uses Step4, which has updated success and failure number, for calculating the probability of selecting each strategy.
- Step7:
- The population size limit of the onlooker bee is used to select the individual and strategy of the number. Let the best performance of an individual have a large probability that can acquire the exploration and development chance again. The onlooker bee equation is the same as the employ bee equation shown in Step3.
- Step8:
- The scout bee determines whether that algorithm falls into the local minimum. The best individual repeats the initial equation when its iteration number exceeds the parameter “limit.” The algorithm has some disturbance for avoiding falling into the local minimum. The initial equation is expressed as follows:
- Step9:
- Thereafter, it finds the best individual from the population compared so far and the best individual greed selection and update.
4. Navigation Control of a Mobile Robot
4.1. The Proposed Navigation Method
4.2. The Escape Method in Special Environments
5. Experimental Results
5.1. Performance Comparisons of Various Learning Algorithms
5.2. Verification of Mobile Robot Escape in Special Environments
5.3. PIONEER 3-DX Robot Navigation
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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X′1 X′2 | Near | Medium | Far |
---|---|---|---|
Near | Back | Fast | Fast |
Medium | Fast | Medium | Medium |
Far | Fast | Slow | Slow |
X′1 X′2 | Near | Medium | Far |
---|---|---|---|
Near | Back | Slow | Slow |
Medium | Back | Medium | Medium |
Far | Back | Fast | Fast |
Parameters | Values |
---|---|
Population size (PS) | 30 |
Crossover rate (CR) | 0.9 |
Scale factor (F) | 0.5 |
Evaluation number | 10,000 |
Number of rule | 10 |
Scout bee limit | 40 |
LP | 50 |
Algorithms | MSABC | DE\Best1 | DE\Best2 | DE\Rand\Best\1 | DE\Rand\Best\2 | ABC |
---|---|---|---|---|---|---|
Average fitness f | 2.362 | 2.173 | 1.796 | 2.112 | 1.9317 | 1.314 |
STD | 0.16 | 0.387 | 0.2819 | 0.231 | 0.235 | 0.29 |
Algorithms | MSABC | DE\Best1 | ||
Evaluation Function | NavigationTime (s) | TravelDistance (m) | NavigationTime (s) | TravelDistance (m) |
Target 1 | 9.184 | 7.8884 | 10.784 | 7.8508 |
Target 2 | 15.648 | 11.4683 | 17.248 | 11.4190 |
Target 3 | 14.6875 | 9.5638 | 16.0625 | 9.6121 |
Algorithms | DE\Best2 | DE\Rand\Best\1 | ||
EvaluationFunction | NavigationTime (s) | TravelDistance (m) | NavigationTime (s) | TravelDistance (m) |
Target 1 | 9.504 | 7.7824 | 9.76 | 7.7982 |
Target 2 | 16.416 | 11.3935 | 17.376 | 11.425 |
Target 3 | 15.75 | 9.6328 | 15.8125 | 9.6047 |
Algorithms | DE\Rand\Best\2 | ABC | ||
EvaluationFunction | NavigationTime (s) | TravelDistance (m) | NavigationTime (s) | TravelDistance (m) |
Target 1 | 11.168 | 7.8614 | 12.256 | 7.501 |
Target 2 | 20.832 | 11.9809 | 24.96 | 10.8298 |
Target 3 | 19.625 | 11.1805 | 23.168 | 11.2815 |
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Chen, C.-H.; Jeng, S.-Y.; Lin, C.-J. Using an Adaptive Fuzzy Neural Network Based on a Multi-Strategy-Based Artificial Bee Colony for Mobile Robot Control. Mathematics 2020, 8, 1223. https://doi.org/10.3390/math8081223
Chen C-H, Jeng S-Y, Lin C-J. Using an Adaptive Fuzzy Neural Network Based on a Multi-Strategy-Based Artificial Bee Colony for Mobile Robot Control. Mathematics. 2020; 8(8):1223. https://doi.org/10.3390/math8081223
Chicago/Turabian StyleChen, Cheng-Hung, Shiou-Yun Jeng, and Cheng-Jian Lin. 2020. "Using an Adaptive Fuzzy Neural Network Based on a Multi-Strategy-Based Artificial Bee Colony for Mobile Robot Control" Mathematics 8, no. 8: 1223. https://doi.org/10.3390/math8081223