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Proceedings of 2008 Student Conference on Research and Development (SCOReD 2008), 26-27 Nov.

2008, Johor, Malaysia

Optimization of Fuzzy Rules in Fuzzy Controller System by Ordinal Structure Model of Fuzzy Reasoning for Obstacle Avoidance Behavior in a Khepera Mobile Robot
Ahmad F.A 1, Khalid M1, Yusof R1, Samsudin K2, Mohd Latif N2
2

CAIRO, Universiti Teknologi Malaysia, City Campus, 54100 Kuala Lumpur, Malaysia Dep. of Computer Comm. System Eng., Faculty of Eng., Universiti Putra Malaysia, 43400, Selangor, Malaysia faisul@gmail.com, marzuki.khalid@gmail.com humans in cleaning. Other robots are Koala robot, Hemisson robot and Khepera robot that are produced by K-Team [6] as research robots. Further details of the Khepera robot hardware will be explained in Section 3. Section 2 will discuss on the OSMFR theory and also the conventional fuzzy technique. In Section 4 we will discuss the design of OSMFR for obstacle avoidance using the Khepera micro-robots and Section 5 will discuss on experimental results and the last section is the conclusion of this research. II. FUZZY CONTROL SYSTEMS

Abstract Mobile robot is become important to humans for assisting them in their tasks especially in the area where facing high risk environment, small space environment, etc. One major challenge is the large amount of uncertainty and unknown information from their environment. Fuzzy logic is known as a best tool in handling the uncertainties values. In this paper, we develop a fuzzy logic controller based on the Ordinal Structure Model of Fuzzy Reasoning (OSMFR) approach for a micro-robot referred to as the Khepera robot. Fuzzy logic controller is used to avoid obstacle and navigate the mobile robot through the path. The conventional fuzzy logic controller is applicable when there are only two fuzzy inputs and usually with one output, however, complexity increases when there are multi inputs and outputs making the system unrealizable. The OSMFR has an advantage of an easier approach of setting the rules with multiple inputs and outputs which is done by giving an associated weight to each rule. The objective of the fuzzy controller based on the OSMFR on the Khepera micro-mobile robots is to avoid obstacles. Results of the experiments show that not only the ordinal structure fuzzy controller is easier to design but it also has a better performance than conventional fuzzy controllers in term of small space. Fuzzy control, OSMFR, Khepera robot

In order to develop intelligent behavior for mobile robots, researchers had applied various algorithms to mobile robots such as fuzzy control system[7][8], neural network [10], genetic algorithm(GA) [11], etc. A fuzzy logic control system is shown as in Fig. 1 and some examples are described in [6]. J. Godjevac et al.[6] derived a learning procedure by applying an adaptive fuzzy controller based on the TakagiSugeno approach. The Takagi-Sugeno approach has the form of the conventional Radial Basis Function (RBF) neural network. In [7], the author had applied a neuro-fuzzy controller to select fuzzy rules for obstacle avoidance. Fuzzy logic control has some advantages when compared to conventional control. An advantage of fuzzy logic control is that the capability to treat uncertain and imprecise information from its environment. It is also capable of reacting based on information received in real-time.Final Paper Submission and Registration A. Conventional Fuzzy Reasoning Theory A conventional fuzzy control system basically defines its inputs by two dimensional spaces (2) for two inputs, three dimensional spaces for three inputs (3) in designing rule bases. Each of their inputs is designed with fuzzy set of membership function. Basically the fuzzy rules are defined as follows:
IF x is X then a is A or, IF x is X and y is Y then a is A IF x is X and y is Y and z is Z then a is A

I.

INTRODUCTION

An autonomous mobile robot is known as a mechanical device which has the capability to move without human intervention in any unknown environment has been developed. Its applications vary and it contributes significantly in maintenance operations such as accessing hazardous areas e.g. nuclear reactor [1], detonating bomb threats [2], etc, or high risk environments e.g. space exploration [3] and deep sea exploration [4]. Other applications include its various functions as an intelligent service robot for offices, hospitals and factories such as robotic vacuum cleaner e.g iRobot Roomba. The autonomous mobile robot is designed to independently obtain and identify information through its physical components i.e. sensors and to react to the changing environment, in achieving its objectives using its physical motor as the output. Nowadays, many mobile robots are made to fulfill humans requirements and researchers requirements. Some examples of such mobile robots are vacuum robots [5] which can help

(1)
(2) (3)

Variables x, y and z are defined as inputs and a is an output. Variables of X, Y, Z are fuzzy set membership functions for

978-1-4244-2869-4/08/$25.00 2008 IEEE 56-1

inputs and variable of A is fuzzy set membership function for output. The conventional fuzzy rules are defined as follows:
Ri: If x1 is Xi1 then a is Ai
where i = 1,2,,n.

priority of which rule is more significant. For an n-input and one output system, the ordinal structure model is described as follows:
Ri: If x1 is Xi1 then a is Ai Rj: If x2 is Xj2 then a is Aj (5) (6)
where i,j = 1,2,3,..,n

Based on the conventional fuzzy rules by using the moment method, the inferred value is obtained as:

n i Ci S i ai = i = 1 (4) n i S i i =1 where, Ri is the i-th fuzzy rule, i is the truth value of Ri in the rule base, ai is the inferred value for the i-th rule. Ci and Si are the central position for the i-th rule and the area of the membership function of fuzzy variable Ai for the i-th rules, respectively. B. Ordinal Structure Model of Fuzzy Reasoning (OSMFR) Theory
Reference
input r(t)

Variables x1, x2 are inputs and a is output, Ri and Rj is i-th fuzzy rule and j-th fuzzy rule. Xi1, Xj2, Ai and Aj are the fuzzy variables and n is the number of rules. So the defuzzification of above method is simplified with:
n n wi i Ci S i + w j j C j S j i =1 j =1 (7) a= n n wi i S i + w j j S j i =1 j =1 where wi and wj are the weights of rules Ri and Rj, respectively. i is the truth value of Ri in the rule base. Ci and Si are the central position and the area of the membership function of fuzzy variable Ai, respectively. The structure of this OSMFR is shown in Fig. 2.
A1m W 1m B1m W2m A2m B2m

Inference mechanism

Defuzzification

input u(t)

output y(t)

Figure 1. A fuzzy control system

OSMFR has been introduced by T.Onishi in 1990, purposely for designing a self-learning fuzzy control system for an urban refuse incineration plant by adding dynamic corrections to the reasoning using degree of priority among control rules [9]. Its advantages are such that it is an effective method for simplifying the partitioning of input spaces and optimizing the number of control rules. In 1991, T.Furuhashi et al. applied this model on deciding working order of group for the assembling of products in a factory [12]. Based on conventional fuzzy reasoning methods the inference rules have to be described in multi dimensional inputs and single output (MISO) space which is difficult to be configured. It requires a lot of rules to be handled and designed. For example, those having three inputs and one output; although it has four membership functions set, the number of rule base from this system is defined as 43= 64 rules. To overcome the number of rule base, genetic algorithms are used [12] and hybridized with neural network [14] to optimize it rules. In this paper, without using GA and neural network, an OSMFR is used based on conventional fuzzy controller system to optimize the rules. The model coincides well with human image of fuzzy inference rules in case where a system has many inputs and one or multiple output. In this paper, all of fuzzy inference rules are described in one dimensional space for each input and output. Co-ordination of the rules is done with weight attached to each rule. Random selection is done to determine the appropriate

Fuzzification

Process
Input 1 Input 2

Rule base

Input n

A A11 B 12 B11 12 A A21 B 22 B21 22 An2 Bn2

W12 W11 W22 W21 Wn2

AW BW

Anm Bnm

Wn

An1 Bn1

Wn2

Figure 2. The structure of the ordinal fuzzy model

III.

THE KHEPERA MOBILE ROBOT


s2 s1 s3 s4

s0

s5

left-side motor

Right-side motor

Figure 3. The Khepera Mobile Robot and the location of the front sensors and the back sensors of the Khepera mobile robot

The Khepera mobile robot is a micro robot with a size of about 55mm in diameter as shown in left-side Fig. 3. It has eight infra red proximity sensors - six sensors are mounted in front and two sensors at the back as shown in right-side of Fig. 3. Each of the sensors consists of an emitter and a detector. The proximity sensors give values from 0 (when no object is detected) to 1023 (maximum value when an object is too near with the Khepera robot). The Khepera robot has been developed by a group of researchers from Swiss named KTEAM [1].

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IV.

DESIGN OBSTACLE AVOIDANCE USING ORDINAL STRUCTURE MODEL OF FUZZY REASONING

Based on the six sensors and four fuzzy membership functions, the number of fuzzy rules that are derived for this system is only 24. Inference Mechanism Fuzzy mechanism is the core section of a fuzzy system, which combines the fact obtained from the fuzzification with the rule base and conducts the fuzzy reasoning process. In other words it is a process to derive a conclusion from the fact and rules. Inference mechanism also known as an inference engine or fuzzy inference module, which emulates the experts decision making in interpreting and applying knowledge about how best to control plant. There are two basic types of method employed in the design of inference engine for fuzzy controller which is composition based inference and individual rule base inference. Commonly, the individual rule based inference is chosen since it was computationally efficient and can save a lot of memory compared to the composition based inference. The individual rule based inference also provides a graphical interpretation of the fuzzy inference mechanism in the fuzzy logic controller. The three most popular inference methods are Mamdanis Max-min implication, Larsens Max-product implication and Root Sum Square method, which is used in this work. Examples of rule bases that are fired in t0 time when obstacle is detected in front of the Khepera mobile robot are listed as follows:
IF s0 is vf IF s1 is vf IF s2 is vn IF s3 is vn IF s4 is vf IF s5 is vf THEN m0 is fh THEN m0 is fw THEN m0 is bh THEN m1 is bh THEN m1 is fw THEN m1 is fh

A. Fuzzification The input values from the front sensors will be mapped to fuzzy set, defined as fuzzification. The six front sensors are defined as Sensor-0 (s0), Sensor-1 (s1), Sensor-2 (s2), Sensor-3 (s3), Sensor-4 (s4) and Sensor-5 (s5). The location of the Khepera robot sensors are shown in Fig. 3 (b). Fig. 4 shows the fuzzy set membership function of the input sensors which are divided into four membership functions defined as very far (vf), far (fr), near (nr) and very near (vn). There are many types of fuzzy membership functions that are available and the more popular types are trapezoidal, triangular and bell shaped functions. In our case, we use the triangular type which has three parameters as shown in 4(a). The fuzzy set value is calculated based on (8).
(X) vf 1 fr nr vn
bh bw (A) 1 fw fh

C.

400

600

1023

Distance (d)

-12 -8

-4

12

Speed(s)

Figure 4. Examples of the Fuzzy Membership function for the Input Sensors

For fuzzy output membership function, the motor speed range is defined from -12 unit to +12 unit. In this case, 1 unit of speed is equal to 0.08mm/10ms.
0, u a u a ,a < u < b b a (u ; a, b, c ) = 1, u = b c u ,b < u < c c b 0, u c

(8)

The speed of the motors is mapped onto four fuzzy set membership functions which are forward high(fh), forward(fw), backward(bw) and backward high(bh). The graph of the fuzzy output membership function for the motor speed is shown as in Fig. 4(b). B. Rule Base Referring to the Khepera mobile robot, which has six sensors in front and two actuator wheels; we divide the input sensors with each side having three inputs and one output. Three sensors on the right side will pair with the left motor and the sensors on the left will pair with the right motor. Using four fuzzy membership functions which are described in the previous section we are able to derive rule bases. Each of the rules is derived by a one dimensional space. For example, for Sensor-0; we can derive the fuzzy rules as follows:
IF s0 is IF s0 is IF s0 is IF s0 is vf fr nr vn THEN m0 is fh THEN m0 is fw THEN m0 is bw THEN m0 is bh

Each of the outputs (right-side motor(m0) and left-side motor(m1)) membership function is calculated for its strength as forward high strength (Sfh), forward strength (Sfw), backward strength (Sbw), backward high strength (Sbh). (9)-(12) shows the strengths calculation for the right-side motor and the left-side motor. 1) Right-side motor (m0)
S fh ( m 0 ) = 2 fh ( s0 )2 + fh ( s1 )2
Sbh ( m0 ) = 2 bh ( s2 ) 2

(9) (10)

2) Left-side motor (m1)


S fh ( m1 )=2 fh( s4 )2 + fh ( s5 )2 S bh ( m1 ) = 2 bh( s3 )2

(11) (12)

D. Defuzzification The final process of the fuzzy control system is mapping fuzzy control value over an output universe of discourse into the crisp control value (non-fuzzy). This process is important due to many practical applications. A crisp control action is

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required to actuate plant. This process is known as defuzzification. In this paper we use a fuzzy centroid method. This method used is defined with weight parameters as depicted in the (13).

the values that came up with the results where the mobile robot can avoid obstacles are selected. In the experiment with Khepera robot, the weights that are used here are defined as in Table 2.
TABLE II. TABLE 2: FUZZY RULE BASE WITH THE RESPECTIVE WEIGHTS. Sensor s0 vf fr nr vn vf fr nr vn vf fr nr vn vf fr nr vn vf fr nr vn vf fr nr vn d S fh fh fw bh fh fh fw bh fh fh fw bh fh fh fw bh fh fh fw bh fh fh fw bh Weight 0.22 0.02 0.10 0.20 0.40 0.30 0.98 0.92 0.05 0.20 0.99 0.78 0.04 0.30 0.92 0.70 0.50 0.40 0.80 0.87 0.50 0.50 0.50 0.79

wi ci si + w j c j s j
m* =
i =0 n

wi si + w j s j
i =0 j =0

j =0 n

(13)

Ci, Cj is the centroid of the mapped area, Si, Sj is strength of the mapped area, wi,wj is weight parameter and m* is the crisp value for motor right and motor left. V. EXPERIMENTS AND RESULTS

The algorithm has been applied in the Khepera mobile robot based on simulations. The simulator known as Player Stage (PS) is used to test the algorithm. Several conditions of path were created to make the comparison between the conventional fuzzy controller and the OSMFR controller. The path is shown as in Fig. 5. It works well for obstacle avoidance compared to conventional fuzzy control systems. The differential of rules between the conventional and OSMFR are list in Table 1. The fuzzy rules and weight parameters that are applied in this system are shown as in Table 2. The conventional fuzzy controller was set up with 50 rules.
TABLE I. A COMPARISON OF THE OSMFR AND CONVENTIONAL FUZZY CONTROL. OSMFR Small numbers of rule base Single dimensional Perform better in terms of avoiding wall in Can be used with many inputs and outputs Easy to design Conventional Fuzzy Large number of rule bases Multiple dimensional Stack/ Cannot run through in curtain angle

No. R1 R2 R3 R4 R5 R6 R7 R8 R9 R10 R11 R12 R13 R14 R15 R16 R17 R18 R19 R20 R21 R22 R23 R24

s1

m0

s2

s3

s4

m1

s5

Numbers of rule base Dimensional of rule base System performance based on obstacle avoidance Inputs

Normally not more than 4 inputs Difficult to be designed

(a)

(b)

Multiple inputs/outputs

In the defuzzification process, weight parameters are assigned at each of the fuzzy output membership functions as shown in the following motor output equation. The weights defined are wfH for forward high, wfw for forward, wbw for backward and wbH for backward high parameters.
mi =

(c)

(d)

(C fh S fh w fh + C fw S fw w fw + C bw S bw wbw + C bh S bh wbh ) (S fh w fh + S fw w fw + S bw wbw + S bh wbh )

(14)

mi is i-th motor and crisp value which value 0 for right-side motor and 1 for left-side motor. Here, the weight parameter values are defined from 0 to 1. It is defined by trial and error approach which means the weight values are input randomly and then its output results is examined. It has been tried frequently with different values and

Figure 5. The first path taken by the Khepera robot based on (a) the conventional fuzzy controller shows that the robot is stuck when turning at 90 degrees angle and (b) when based on the OSMFR controller, the Khepera mobile robot moved till the end of the path. The second path taken by the Khepera robot based on (c) the conventional fuzzy controller and (d) the OSMFR controller.

Based on the weights that we obtained from our approach, high values for weights are defined in Sensor1, Sensor2, Sensor3, Sensor4 and Sensor5 by membership function backward and backward high for output. For forward and

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forward high, their weight parameter values are low compared to others. Several experiments have been conducted with the mobile robots using the OSMFR approach and conventional fuzzy reasoning. From the experiments, it is clear that the Khepera robots based on the OSMFR control performed better than the conventional fuzzy controller. This is obvious based on the running of the Khepera mobile robot in two different paths which is show in Fig. 8 and Fig. 9. The mobile robot is running to the target from the same initial positions. VI. CONCLUSIONS

[9]

[10]

[11]

[12]

[13]

The priority in an obstacle avoidance algorithm is developed such that when the robot arrives at an obstacle, it will be avoided, such that the forward behavior priority will decrease and backward behavior priority should be high which resulted in the robot to turn away from the obstacles. In this research work we are also faced with some problems that could affect our results such as:

[14]

[15]

Ohnishi,T., Fuzzy Reasoning by Ordinal Structure Model of Control Rule, Journal of Japan Society for Fuzzy Theory Systems, Vol.2,No.4,pp.125-232,1990. H.R.Beom and H.S. Cho, A Sensor-based Obstacle Avoidance Controller for a Mobile Robot Using Fuzzy Logic and Neural Network, Publication in Intelligent Robots and Systems, 1992., Proceedings of the 1992 lEEE/RSJ International Conference,7-10 Jul 1992. M.L. Pilatl and F.Oppacher, Evolution of Khepera Robotic Controllers with Hierarchical Genetic Programming Techniques, Evolvable Machines: Theory & Practice, Pg 43-71, Springer Berlin / Heidelberg. Naitoh, Y., Furuhashi,T. and Uchiha, Y., A Variable Ordinal Structure Model of Fuzzy Reasoning and Its Application to Decision Problem if Working Order, International Conference on Industrial Electronic, Control and Instrumentation, Vol 2., pp. 1539-1543,1991. Braunstingl, R., Mujika, J. and Uribe, J.P., A wall following robot with a fuzzy logic controller optimized by a genetic algorithm. In: Proceedings of the International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and the Second International Fuzzy Engineering Symposium, vol. 5, pp. 77-82. Rusu, P., Petriu, E.M., Whalen, T.E., Cornell, A. and Spoelder, H.J.W., Behavior-based neuro-fuzzy controller for mobile robot navigation, IEEE Transactions on Instrumentation and Measurement. v52 i4. 13351340. Franzi, E.. Khepera BIOS 4.00 Reference Manual, 3 Nov 1995, pp36.

Tuning weight based on trial and error experiment has limitations due to other values that have not been tested might have better result. Sensor- noise in the readings is a disadvantage, making the measurement less reliable and the experiments more unstable. Noise results in reading indicating the false presence of obstacle caused by light reflections.

Although the system has these drawbacks, the OSMFR approach has proven to be more advantages than the conventional fuzzy controller in terms of simpler design of the rule base with multiple inputs and outputs.
[1]

[2]

[3] [4]

[5] [6]

[7]

[8]

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