Emergent behaviors of a fuzzy sensory-motor controller evolved by genetic algorithm

Seung Ik Lee, Sung Bae Cho

Research output: Contribution to journalArticlepeer-review

32 Citations (Scopus)


Recently, there has been extensive work on the construction of fuzzy controllers for mobile robots by a genetic algorithm (GA); therefore, we can realize evolutionary optimization as a promising method for developing fuzzy controllers. However, much investigation on the evolutionary fuzzy controller remains because most of the previous works have not seriously attempted to analyze the fuzzy controller obtained by evolution. This paper develops a fuzzy logic controller for a mobile robot with a GA in simulation environments and analyzes the behaviors of the controller with a state transition diagram of the internal model. Experimental results show that appropriate control mechanisms of the fuzzy controller are obtained by evolution. The controller has evolved well enough to smoothly drive the robot in different environments. The robot produces emergent behaviors by the interaction of several fuzzy rules obtained.

Original languageEnglish
Pages (from-to)919-929
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number6
Publication statusPublished - 2001 Dec

Bibliographical note

Funding Information:
Manuscript received December 8, 1999; revised May 31, 2001. This work was supported by Korea Research Foundation Grant KRF 2000-005-C00012. This paper was recommended by Associate Editor W. Pedrycz. The authors are with the Department of Computer Science, Yonsei University, Seoul 120-749, South Korea (e-mail: cypher@candy.yonsei.ac.kr; sbcho@csai.yonsei.ac.kr). Publisher Item Identifier S 1083-4419(01)08547-8.

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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