Accelerated Genetic Programming for Intelligent Fuzzy Robots
Yasuyuki Murai*, Koki Matsumura**, Hisayuki Tatsumi***, Hiroyuki Tsuji*, and Shinji Tokumasu*
*Department of Information and Computer Sciences, Kanagawa Institute of Technology, 1030 Shimoogino, Atsugi, Kanagawa 243-0292, Japan
**Department of Information and Knowledge Engineering, Tottori University, 4-101 Koyama-Minami, Tottori, Tottori 680-8550, Japan
***Department of Computer Science, Tsukuba College of Technology, 4-12-7 Kasuga, Tsukuba, Ibaraki 305-0821, Japan
We previously proposed a new way of automatically generating membership functions that play an important role in improving the accuracy of fuzzy control by using genetic programming (GP). In this paper, we report 2 improvements for achieving better fuzzy robot intelligence. First, we made the mutation rate change dynamically based on a coupled chaotic system. Secondly, we introduced population partitioning using deme by parallel processing. The effectiveness of these improvements is demonstrated through computer simulation.