Evolutionary self-organizing fuzzy system using fuzzy-classification-based social learning particle swarm optimization

Abstract

A self-organizing algorithm based on an online cluster and fuzzy sets update algorithm (OCFU) and fuzzy-classification-based social learning particle swarm optimization (FC-SLPSO) is proposed to address the problem of rule initialization and fitness function evaluation. The OCFU algorithm is used to determine the structure of the fuzzy system and build a flexible partition of fuzzy sets in each input variable. The FC-SLPSO algorithm establishes a fuzzy K-Nearest Neighbor (KNN) classifier in each iteration. The fitness evaluation is performed only when the membership degree of the offspring particles belonging to potential particles is greater than that of the parent particles, which effectively reduces the number of fitness function evaluations and accelerates the PSO algorithm. The tracking results of three nonlinear systems show that the tracking accuracy of the proposed method is better. The Pioneer P3DX mobile robot model and simulation environment with a two-dimensional lidar are constructed based on the Coppeliasim robot simulation platform. Using the algorithms proposed in this paper, the tracking task of the pioneer p3dx mobile robot along a wall is achieved. The effectiveness of the proposed algorithm is verified by the cosimulation of Coppeliasim and MATLAB in multiple scenarios.