Time-optimal trajectory planning using a smart evolutionary algorithm with fuzzy inference system
Serkan Aydın, Hakan Temeltaş · 2003
Time optimal trajectories for mobile robot Nomad 200 is produced with a differential evolution-fuzzy inference system algorithm (DE-FIS). Shortest path is found by visibility graph method. This path is redefined to form a multi-constrained non-linear global optimization problem. This problem is solved by DE-FIS. FIS is used to learn the robot's kinematics. Experiments are successfully implemented on Nomad 200.