Multi-Thread Evolutionary Programming and Its Application to Truck-and-Trailer Backer-Upper Control
Summary :
This paper presents a multi-thread evolutionary programming (MEP) technique that is composed of global, local, and minimal search units. An appropriate search routine is called depending on the current situation and the individuals are updated by using the selected routine. In each search routine, the individuals are updated with a normalized relative fitness function to improve the robustness of the algorithm. The proposed method is applied to the problem of backing up a truck-and-trailer system to a loading dock. A fuzzy logic controller is designed for a truck-and-trailer backer-upper system and the MEP algorithm is used to optimize the representative parameters of the fuzzy logic controller. The simulation results show that the proposed controller performs well even under a large variety of initial positions.
- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E84-A No.2 pp.597-603
- Publication Date
- 2001/02/01
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- PAPER
- Category
- Systems and Control
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Chong Seong HONG, Jin Myung WON, Jin Soo LEE, "Multi-Thread Evolutionary Programming and Its Application to Truck-and-Trailer Backer-Upper Control" in IEICE TRANSACTIONS on Fundamentals,
vol. E84-A, no. 2, pp. 597-603, February 2001, doi: .
Abstract: This paper presents a multi-thread evolutionary programming (MEP) technique that is composed of global, local, and minimal search units. An appropriate search routine is called depending on the current situation and the individuals are updated by using the selected routine. In each search routine, the individuals are updated with a normalized relative fitness function to improve the robustness of the algorithm. The proposed method is applied to the problem of backing up a truck-and-trailer system to a loading dock. A fuzzy logic controller is designed for a truck-and-trailer backer-upper system and the MEP algorithm is used to optimize the representative parameters of the fuzzy logic controller. The simulation results show that the proposed controller performs well even under a large variety of initial positions.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/e84-a_2_597/_p
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@ARTICLE{e84-a_2_597,
author={Chong Seong HONG, Jin Myung WON, Jin Soo LEE, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Multi-Thread Evolutionary Programming and Its Application to Truck-and-Trailer Backer-Upper Control},
year={2001},
volume={E84-A},
number={2},
pages={597-603},
abstract={This paper presents a multi-thread evolutionary programming (MEP) technique that is composed of global, local, and minimal search units. An appropriate search routine is called depending on the current situation and the individuals are updated by using the selected routine. In each search routine, the individuals are updated with a normalized relative fitness function to improve the robustness of the algorithm. The proposed method is applied to the problem of backing up a truck-and-trailer system to a loading dock. A fuzzy logic controller is designed for a truck-and-trailer backer-upper system and the MEP algorithm is used to optimize the representative parameters of the fuzzy logic controller. The simulation results show that the proposed controller performs well even under a large variety of initial positions.},
keywords={},
doi={},
ISSN={},
month={February},}
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TY - JOUR
TI - Multi-Thread Evolutionary Programming and Its Application to Truck-and-Trailer Backer-Upper Control
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 597
EP - 603
AU - Chong Seong HONG
AU - Jin Myung WON
AU - Jin Soo LEE
PY - 2001
DO -
JO - IEICE TRANSACTIONS on Fundamentals
SN -
VL - E84-A
IS - 2
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - February 2001
AB - This paper presents a multi-thread evolutionary programming (MEP) technique that is composed of global, local, and minimal search units. An appropriate search routine is called depending on the current situation and the individuals are updated by using the selected routine. In each search routine, the individuals are updated with a normalized relative fitness function to improve the robustness of the algorithm. The proposed method is applied to the problem of backing up a truck-and-trailer system to a loading dock. A fuzzy logic controller is designed for a truck-and-trailer backer-upper system and the MEP algorithm is used to optimize the representative parameters of the fuzzy logic controller. The simulation results show that the proposed controller performs well even under a large variety of initial positions.
ER -
English
