A Multi-Agent Architecture for the Design of Hierarchical Interval Type-2 Beta Fuzzy System

This paper presents a new methodology for building and evolving hierarchical fuzzy systems. For the system design, a tree-based encoding method is adopted to hierarchically link low dimensional fuzzy systems. Such tree structural representation has by nature a flexible design offering more adjustable and modifiable structures. The proposed hierarchical structure employs a type-2 beta fuzzy system to cope with the faced uncertainties, and the resulting system is called the Hierarchical Interval Type-2 Beta Fuzzy System (HT2BFS). For the system optimization, two main tasks of structure learning and parameter tuning are applied. The structure learning phase aims to evolve and learn the structures of a population of HT2BFS in a multiobjective context taking into account the optimization of both the accuracy and the interpretability metrics. The parameter tuning phase is applied to refine and adjust the parameters of the system. To accomplish these two tasks in the most optimal and faster way, we further employ a multi-agent architecture to provide both a distributed and a cooperative management of the optimization tasks. Agents are divided into two different types based on their functions: a structure agent and a parameter agent. The main function of the structure agent is to perform a multi-objective evolutionary structure learning step by means of the Multi-Objective Immune Programming algorithm (MOIP). The parameter agents have the function of managing different hierarchical structures simultaneously to refine their parameters by means of the Hybrid Harmony Search algorithm (HHS). In this architecture, agents use cooperation and communication concepts to create high-performance HT2BFSs. The performance of the proposed system is evaluated by several comparisons with various state of art approaches on noise-free and noisy time series prediction data sets and regression problems. The results clearly demonstrate a great improvement in the accuracy rate, the convergence speed and the number of used rules as compared with other existing approaches

Navigational Strategies for Control of Underwater Robot using AI based Algorithms

Autonomous underwater robots have become indispensable marine tools to perform various tedious and risky oceanic tasks of military, scientific, civil as well as commercial purposes. To execute hazardous naval tasks successfully, underwater robot needs an intelligent controller to manoeuver from one point to another within unknown or partially known three-dimensional environment. This dissertation has proposed and implemented various AI based control strategies for underwater robot navigation. Adaptive versions of neuro-fuzzy network and several stochastic evolutionary algorithms have been employed here to avoid obstacles or to escape from dead end situations while tracing near optimal path from initial point to destination of an impulsive underwater scenario. A proper balance between path optimization and collision avoidance has been considered as major aspects for evaluating performances of proposed navigational strategies of underwater robot. Online sensory information about position and orientation of both target and nearest obstacles with respect to the robot’s current position have been considered as inputs for path planners. To validate the feasibility of proposed control algorithms, numerous simulations have been executed within MATLAB based simulation environment where obstacles of different shapes and sizes are distributed in a chaotic manner. Simulation results have been verified by performing real time experiments of robot in underwater environment. Comparisons with other available underwater navigation approaches have also been accomplished for authentication purpose. Extensive simulation and experimental studies have ensured the obstacle avoidance and path optimization abilities of proposed AI based navigational strategies during motion of underwater robot. Moreover, a comparative study has been performed on navigational performances of proposed path planning approaches regarding path length and travel time to find out most efficient technique for navigation within an impulsive underwater environment