Evolutionary learning of a 5120 fuzzy controller including wheel lift constraint

In this paper an evolutionary algorithm is developed to learn a fuzzy knowledge base for the control of a soccer playing micro-robot from any configuration belonging to a grid of initial configurations to hit the ball along the ball to goal line of sight. The knowledge base uses a relative co-ordinate system including left and right wheel velocities of the robot. Final path positions allow forward and reverse facing robot to ball and include its physical dimensions. A wheel lift constraint is now included in determining the controller.