Hierarchical fuzzy rule based systems using an information theoretic approach

This paper proposes a novel anytime algorithm for the construction of a Hierarchical Fuzzy Rule Based System using an information theoretic approach to specialise rules that do not effectively model the decision space. The amount of uncertainty tolerated within the decision provides a single tuneable parameter to control the trade off between accuracy and interpretability. The algorithm is empirically compared with existing methods of function approximation and is demonstrated on a mobile robot application in simulation. © Springer-Verlag 2006