Genetic Fuzzy Approach for Control and Task Planning Applications

Abstract

Genetic fuzzy is applied to two benchmark problems, the inverted double pendulum and the task assignment for cooperating UAVs classified as the polygon visiting multiple traveling salesman problem (PVMTSP). GA is used to define the membership functions and the rule base for the FIS that is used for solving the two benchmark problems. In this paper, we propose a genetic fuzzy controller to control an inverted double pendulum. We also show the effectiveness of the controller even when subjected to noise. For the PVMTSP, we propose a method of genetic fuzzy clustering that would be specific to MTSP problems and hence more efficient compared to k-means and c-means clustering. We also discuss how well our algorithm scales for increasing number of targets. The results are compared for two different polygon sizes.Nomenclature m 1 ,m 2