GA in Continuous S, ace and Fuzzy Classifier System for Benchmark of Evolutionary Intelligent Computing Opening of Door wit P i Manipulator of Mobile Robot: New
J. Ohwi, I S. V. Ulyanov · 1995
An intelligent mobile robot for senice use which is mainly utilized in office buildings has been developed. It can locomote autonomously from one room to others in different floors and buildings using elevators. The robot equips a 5DOF nianipulator and must often conduct opeiiing and closing door operation. For realizing door opening operation of manipulator in cooperation with locomotive mechanism. it is necewtry to deielop efficient and intelligent computing algorithms for next two items: (1) determination of initial position of mobile robot in front of a door-knob like parking a car and (2) path planning of manipulator trajectorj- for opening a door. This paper provides these algorithms. \Ye propose an algorithm 011 basis of Fuzzy Classifier System ( FCS for (1). The FCS is a kind of lSenetic Algorithms ( GA ) in which a chromosome expresses each fuzzy rule. And me del elop a method of making a trajectorl; of the flexible manipulator using Genetic Algorithms in Continuous Space ( G.4CS ) for (2).