Tuning fuzzy-based hybrid navigation systems using calibration maps

Napoleon H. Reyes*, A. L.C. Barczak, T. Susnjak

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterResearchpeer-review

2 Citations (Scopus)


We present a novel approach for the tuning and assessment of a cascade of fuzzy logic systems, working cohesively for robot soccer navigation. We generate calibration maps to comprehensively examine the performance of the cascades, allowing for both the visualisation and quantification of the overall system performance. The experiments demonstrate how the proposed method captures the aggregate effect on system's efficiency of even the slightest changes to the fuzzy rules. It also provides feedback on the mechanics of the fuzzy systems that could be held responsible for any shortcomings. Interestingly, without the aid of the proposed techniques, these minute changes are very difficult, if not impossible to identify through human visual inspection per se. Although the example provided in the paper reflects navigation in the Mirosot league robot soccer scope, the proposed calibration method lends itself amenable to other problem domains where target pursuit and obstacle avoidance behaviours are a necessity. It is also worth-noting that the calibration method can be utilised as a fitness function to a Genetic Algorithm or other optimisation techniques, for a fully-automated calibration. Lastly, we discuss how the calibrated cascade of fuzzy systems neatly integrate with the A*algorithm to produce a hybrid system for near-optimal navigation.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 2012
EditorsJong-Hwan Kim, Eric T. Matson, Hyun Myung, Peter Xu
Number of pages10
ISBN (Print)9783642373732
Publication statusPublished - 2013
Externally publishedYes
Event1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012 - Gwangju, Korea, Republic of
Duration: 16 Dec 201218 Dec 2012
Conference number: 1st

Publication series

NameAdvances in Intelligent Systems and Computing
Volume208 AISC
ISSN (Print)2194-5357


Conference1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012
Abbreviated titleRiTA
Country/TerritoryKorea, Republic of


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