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

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 wen enough to smoothly drive the robot in different environments. The robot produces emergent behaviors by the interaction of several fuzzy rules obtained.