a genetic-based fuzzy-tabu controller for mobile robot randomised navigation in unknown environment.
ÔÔº
½
½
¾
¿
½
!
" #""
$
#""
%&' (
'
%( !"
"
'
"' )+ +!+ , ' ""+ +!+
¾ !'
"
$
-
'
'
./! %&' !0
!0
1 2' ' +
¿ 3
! .
$
" #""
%&' 422
'
2 5%46
-" 4
7 89
4""
2
'
!+"
+
Æ
Æ
!
""
#
"
"
$
"
" ""
!
"
$
:
"
"'! $//
;
/ 3'
&
! "
℄
$%! &
'
%
'
(
) " %*℄ &
+%
%)
&
)
",℄ )
!
-
"
℄ +%
%
%
%
%
.
%
/
"
℄ '
%
/
%)
%
0
"
℄ 0
%
)
/
0
%
0 ' 1 2
2
22 "
3℄
%
'
4
"
5℄
4
%
'
%
Æ
0
"
6%
7℄
'
%
/
)
&
'
8 .
%
9-
'
' "
*℄ '
%
-
- 1
1
'
'
' -
'
'%
+
-
%
'%!
"
,℄ '
&
'
:
-
% '
" ℄
:
'
2 '
'
8
& % ' "
℄
;
%
" ℄
-
'
56
56
'
%
< =>
%
= 0> = >
-
= '> 1 / +
) /
?
0 '
.
)
%
%
Æ
(
)
'
Æ
%
=
> +%
@
%
)
",℄ A
)
= > +%
/
&
'
)
"
℄
=3> '
%
?
- " 3℄
=5> '
%
Æ
1
-
%
=6>
1
'
(
-
&
%
8
'
%
'
)
' 11
8
?
1
)
1
11 %
' 1
Æ
(
-
11
-
'
" 5℄
% 11
1
1 4
% 11
1 11
% 11
" 6℄
&
1
'
)
& 1
11 %
Æ
1
1
'
1 & +
11 %
'
1
+
3 +
+
5
+
6
!!"#$ %%& B
/
?
3C Æ
= >
= >
8
= > B
",℄
= > < =Ê > Ê D " ℄
=
>
=
"
= > = >℄ >
"
= > = >>℄
"
= > = >℄ >
= >
= > D
=
" ℄ E
" ℄
8
8
-
?
= > => ?
=
> => (
" = > =>℄
) (
:
D
=3>
=>
=>
=5>
< D E = >
= > => D
'
%
: !
%
11 %
=?'!> )
'
8
< =>
= > =>
8
=
> =>
(
)
?'!
=+'F> =F'F>
+'F
11
1
8
8
1
1
8
8
'
$ " ℄ 9
?
3
+'F
D 6 E = " ℄ "
℄>
D "
℄ ÎÊ
D 6 E = " ℄ "
℄>
D
"
℄
"
℄
ÎÊ "
℄
ÎÊ
' F'F
'
D
=6>
=C>
=7>
=*>
?'!
' 11
+'F
)
?
5
11
'
?
8
!
56
56
5
6
' 11 %
< =>
=
) > = >
=
) > =
>
=
) >
0
11 %
1
G F'F
11
F'F
-
-
)
8 '
!
!
'
11 %
< =>
= >%=>
!
&
.
%
+'F
-
&
) +'F %
F'F ?
%
% ?
6
?
6
)
!
) -
) 0
%
" C℄
3 &&
' ( !# ?
11
'
" 7℄ + 1
11 ?
1
;
=
>
)
11
'
(
B
1
)
1 11
?
11
1
3
) *& + !!" (&($&,* ' +
,
11 %
1
'
1
1
4
1
= "> =# "> #"
#
=,>
= > D
Æ
= Æ > =Æ
>
?
5
A
*
B
=>
11
B
=
℄
?
C
(
1
56
56
5
6
' (
=> 11 %
< => (
$
(
= > $ D H
8 =
>
$ D 6
H
8
"
?
C
/ 6
'
5
5
=> D "=>℄
$ "
℄
=
>
¾
=> D "=>℄
=
>
=
>
=> D =>
'
1
1
B
B
)
" "
℄ % D
5
=
3>
" "
℄ % D 5
5 65
=
5>
"
)
=
6>
<
=
C>
<
=
7>
<
<
=
*>
' 5
C
1
3 %& ,&%&
'
4
&
'
9
=
>
!
" *℄
?
11
11
&
/ 1
11
11
3
) 7
7
*
=
,>
D 66 6C
2
(
33
#* '%#& '##(&&, 2
1
-
)
-
"
℄
= >
"
℄
!
?
7
)
Æ
!
'
1
8
%
'
1
*3
=
>
"
" "
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
" "
"
"
"
"
"
" "
"
"
"
"
"
"
"
%
"
"
"
"
"
"
"
"
!
!
!
" " "
"
"
"
"
#
56
56
5
6
5!6
# '
(
! < => = >
=
> =>
!
$
'
< =>
-
= >
=
> 1 => 0-
)
=" " " >
=" "
" >
%
=" " >
&,, +
35
' 1
1
%
11
A
.
)
1
?
?
*
-
1%) 0
' 11
1
1 11
)
B
&
=>
)
: 4
& ?
*
=> (
=
>
'
1
1
)
8
=
>
D
%
11
%
&
= >
-
%
/
D
*
= >
8
%
?
, 1
?
1
1
'
!
'
F)
1
'
)
' 1
F
F
F 3
=> F 5
= >
& ' 1
!
& ?F! C I
0 ) ?F! 6
*3 I C67
. ?F! 535
I
*
%
'
1
11
< =>
= > 1
=
> 1
'
%
8
)
1
)
'
1
! ?
?F!
5
( %#
&, B
%
- 1
1
(
-
?
'
0F * 4A1 & !
J
?
1
11
)
)
B 11
%
1 (
1
?
3
1 11 %
= > '
G)
%
Æ
'
* (
%
0 22 4 ' '%
'%
!
'%
'%
B
;
%
%
'
1
11
< =>
= > 1
=
> 1
' J
+ 1
= > C (
)
< =>
= >
1 =
>
=>
=>
=>
& +
*&,,
#!&
#- . #- / ) #'
#% (#
9
0 1
$ D 3 K D
0 1
$ D 3 K D
=2
> D *
# ,, # 0 1
$ D 3 K D
D
&
+ D
$
+ D
&
$
D
$
"
D 6
%) *(
+ D 6
=.F D
3,>
0 +
6 3 ,3
66
,
I
5,, *
5
5
I
*56
*
55 C
I
* 5
*C
3 7,6
I
*5C 56
3C5 ,6
I
, 3*3
C3
3
I
C6* 7
** C6
I
C 6 C,
C5 63
I
=.F D 56 >
0 +
6 *C
757
6
I
6 6 73
75,
6
I
676
C
76, 6
I
675
,
37*7 C
3I
C
5C 6
C 6 , 6
I
C 53
5 5
*
I
C3* **
*C* 555
I
67*7 *C
C
*5
I
=.F D 55 >
0 +
5*C5
,
75 6
C6I
5*,7
C
765 ,
I
6
57 ,,
7CC 7
I
6C 6 3,
3
C3 C6*
*3I
663
,
7 6 3
C*I
6C 5
*5
C*3 536
C3I
C C 3
5
7366
55I
6,37 3C
53
* 3
3CI
=.F D 365>
0 +
37C 5C
76*
* I
37*
7C6 6
C I
5 CC 6*
7* C
6I
5*C3
3
6 C, 3 *
3I
57
3 ,6
6
*3
I
5 75 36
63 7 5
,
I
657C ,3
36 3
I
556
7
,7* 73
I
=.F D
**>
0 +
* 3
5
7 6
7
I
3 6 *
73C 6
I
373 66
7
3 ,
6I
3 56 C3
3
C 6 3 *
66I
3*66 557
5
,5,
I
3*C7 7C
*
3 ,67
I
3*,7 36,
3CC
3*
I
37C5 355
7
35
I
=.F D
6,>
0 +
*C C
7C5 6
I
,36 75
3
I
367
C
77
C
I
337 3
*75 3,C
I
73 3 *
35 ,C
I
6 , 5
55
,
I
,, 7
65 3*
I
5 5,
3
I
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F .2 3/ 4 52 26 .6 4 27 23 62 4 66 53 68 4 42 /. .3 4 9. .6 74 4 /2
=> 4 46 4 4/ 4 9. 4 4/ 4 93 4 42 4 96 4 45 . ./ 4 49 4 ./ 4 4/
?
4:
4:
4:
4:
4:
4:
'
'
Æ
'
-
%
?
3=> $
" 36℄
-
'
=+>
8
?
5
-
)
?
3=>
'
-
)
'%!
& 1%
)
4
.
1
&
'
22 4 &
'% '%
8
!
)
Æ
0
%
(
-
'
11 %
'
) -
) = >
%
(
(
?
6
!
!!
!
-
%
?
3=> $
1
=> 1
%
= > .F
&
9
*&,,
#!&
#- .
#- /
) #'
#% (#
.
=.
>
F
0 + 0 +
6
5
*
.49 6.
5*33 3, *3 , .43 8/
5* 5 *
,
5 .49 38
3*67
,7
3 .49 87
3*
*3
3
5 ./3 37
* * 35
, ..5 74
.
=>
F
0 + 0 +
5, 3*
3 .46 52
57*5 5C *3 7 .47 92
575, 75 ** C .46 22
37 3 , , 6 .47 .6
7 73
* , ..6 58
7,3 3
, * ../ 77
.
= >
F
0 + 0 +
5C 35 7 .47 .9
57
7 56 *
.42 53
5C75 77 *C 5 .47 67
3C7, 5 *7 3 .45 85
C *
* ../ 77
76 5
.48 93
?
3=> '
!
+
%
'
)
%
&
' 3
11 %
1
=>
=
>
2
= >
Æ
&
'
1
%
(
!
% ,
6
&
% %
)
'
)
- %
=
>
)
= >
=3>
=5>
Æ
)
=6>
(
B
%
) '
/
8
11
' 11
Æ
?
% 1
)
1
'
%
(
&
&
+) +) +888
+
'
!
' (((
%
+
9
+
%&' +
ÔÔº
½
½
¾
¿
½
!
" #""
$
#""
%&' (
'
%( !"
"
'
"' )+ +!+ , ' ""+ +!+
¾ !'
"
$
-
'
'
./! %&' !0
!0
1 2' ' +
¿ 3
! .
$
" #""
%&' 422
'
2 5%46
-" 4
7 89
4""
2
'
!+"
+
Æ
Æ
!
""
#
"
"
$
"
" ""
!
"
$
:
"
"'! $//
;
/ 3'
&
! "
℄
$%! &
'
%
'
(
) " %*℄ &
+%
%)
&
)
",℄ )
!
-
"
℄ +%
%
%
%
%
.
%
/
"
℄ '
%
/
%)
%
0
"
℄ 0
%
)
/
0
%
0 ' 1 2
2
22 "
3℄
%
'
4
"
5℄
4
%
'
%
Æ
0
"
6%
7℄
'
%
/
)
&
'
8 .
%
9-
'
' "
*℄ '
%
-
- 1
1
'
'
' -
'
'%
+
-
%
'%!
"
,℄ '
&
'
:
-
% '
" ℄
:
'
2 '
'
8
& % ' "
℄
;
%
" ℄
-
'
56
56
'
%
< =>
%
= 0> = >
-
= '> 1 / +
) /
?
0 '
.
)
%
%
Æ
(
)
'
Æ
%
=
> +%
@
%
)
",℄ A
)
= > +%
/
&
'
)
"
℄
=3> '
%
?
- " 3℄
=5> '
%
Æ
1
-
%
=6>
1
'
(
-
&
%
8
'
%
'
)
' 11
8
?
1
)
1
11 %
' 1
Æ
(
-
11
-
'
" 5℄
% 11
1
1 4
% 11
1 11
% 11
" 6℄
&
1
'
)
& 1
11 %
Æ
1
1
'
1 & +
11 %
'
1
+
3 +
+
5
+
6
!!"#$ %%& B
/
?
3C Æ
= >
= >
8
= > B
",℄
= > < =Ê > Ê D " ℄
=
>
=
"
= > = >℄ >
"
= > = >>℄
"
= > = >℄ >
= >
= > D
=
" ℄ E
" ℄
8
8
-
?
= > => ?
=
> => (
" = > =>℄
) (
:
D
=3>
=>
=>
=5>
< D E = >
= > => D
'
%
: !
%
11 %
=?'!> )
'
8
< =>
= > =>
8
=
> =>
(
)
?'!
=+'F> =F'F>
+'F
11
1
8
8
1
1
8
8
'
$ " ℄ 9
?
3
+'F
D 6 E = " ℄ "
℄>
D "
℄ ÎÊ
D 6 E = " ℄ "
℄>
D
"
℄
"
℄
ÎÊ "
℄
ÎÊ
' F'F
'
D
=6>
=C>
=7>
=*>
?'!
' 11
+'F
)
?
5
11
'
?
8
!
56
56
5
6
' 11 %
< =>
=
) > = >
=
) > =
>
=
) >
0
11 %
1
G F'F
11
F'F
-
-
)
8 '
!
!
'
11 %
< =>
= >%=>
!
&
.
%
+'F
-
&
) +'F %
F'F ?
%
% ?
6
?
6
)
!
) -
) 0
%
" C℄
3 &&
' ( !# ?
11
'
" 7℄ + 1
11 ?
1
;
=
>
)
11
'
(
B
1
)
1 11
?
11
1
3
) *& + !!" (&($&,* ' +
,
11 %
1
'
1
1
4
1
= "> =# "> #"
#
=,>
= > D
Æ
= Æ > =Æ
>
?
5
A
*
B
=>
11
B
=
℄
?
C
(
1
56
56
5
6
' (
=> 11 %
< => (
$
(
= > $ D H
8 =
>
$ D 6
H
8
"
?
C
/ 6
'
5
5
=> D "=>℄
$ "
℄
=
>
¾
=> D "=>℄
=
>
=
>
=> D =>
'
1
1
B
B
)
" "
℄ % D
5
=
3>
" "
℄ % D 5
5 65
=
5>
"
)
=
6>
<
=
C>
<
=
7>
<
<
=
*>
' 5
C
1
3 %& ,&%&
'
4
&
'
9
=
>
!
" *℄
?
11
11
&
/ 1
11
11
3
) 7
7
*
=
,>
D 66 6C
2
(
33
#* '%#& '##(&&, 2
1
-
)
-
"
℄
= >
"
℄
!
?
7
)
Æ
!
'
1
8
%
'
1
*3
=
>
"
" "
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
"
" "
"
"
"
"
"
" "
"
"
"
"
"
"
"
%
"
"
"
"
"
"
"
"
!
!
!
" " "
"
"
"
"
#
56
56
5
6
5!6
# '
(
! < => = >
=
> =>
!
$
'
< =>
-
= >
=
> 1 => 0-
)
=" " " >
=" "
" >
%
=" " >
&,, +
35
' 1
1
%
11
A
.
)
1
?
?
*
-
1%) 0
' 11
1
1 11
)
B
&
=>
)
: 4
& ?
*
=> (
=
>
'
1
1
)
8
=
>
D
%
11
%
&
= >
-
%
/
D
*
= >
8
%
?
, 1
?
1
1
'
!
'
F)
1
'
)
' 1
F
F
F 3
=> F 5
= >
& ' 1
!
& ?F! C I
0 ) ?F! 6
*3 I C67
. ?F! 535
I
*
%
'
1
11
< =>
= > 1
=
> 1
'
%
8
)
1
)
'
1
! ?
?F!
5
( %#
&, B
%
- 1
1
(
-
?
'
0F * 4A1 & !
J
?
1
11
)
)
B 11
%
1 (
1
?
3
1 11 %
= > '
G)
%
Æ
'
* (
%
0 22 4 ' '%
'%
!
'%
'%
B
;
%
%
'
1
11
< =>
= > 1
=
> 1
' J
+ 1
= > C (
)
< =>
= >
1 =
>
=>
=>
=>
& +
*&,,
#!&
#- . #- / ) #'
#% (#
9
0 1
$ D 3 K D
0 1
$ D 3 K D
=2
> D *
# ,, # 0 1
$ D 3 K D
D
&
+ D
$
+ D
&
$
D
$
"
D 6
%) *(
+ D 6
=.F D
3,>
0 +
6 3 ,3
66
,
I
5,, *
5
5
I
*56
*
55 C
I
* 5
*C
3 7,6
I
*5C 56
3C5 ,6
I
, 3*3
C3
3
I
C6* 7
** C6
I
C 6 C,
C5 63
I
=.F D 56 >
0 +
6 *C
757
6
I
6 6 73
75,
6
I
676
C
76, 6
I
675
,
37*7 C
3I
C
5C 6
C 6 , 6
I
C 53
5 5
*
I
C3* **
*C* 555
I
67*7 *C
C
*5
I
=.F D 55 >
0 +
5*C5
,
75 6
C6I
5*,7
C
765 ,
I
6
57 ,,
7CC 7
I
6C 6 3,
3
C3 C6*
*3I
663
,
7 6 3
C*I
6C 5
*5
C*3 536
C3I
C C 3
5
7366
55I
6,37 3C
53
* 3
3CI
=.F D 365>
0 +
37C 5C
76*
* I
37*
7C6 6
C I
5 CC 6*
7* C
6I
5*C3
3
6 C, 3 *
3I
57
3 ,6
6
*3
I
5 75 36
63 7 5
,
I
657C ,3
36 3
I
556
7
,7* 73
I
=.F D
**>
0 +
* 3
5
7 6
7
I
3 6 *
73C 6
I
373 66
7
3 ,
6I
3 56 C3
3
C 6 3 *
66I
3*66 557
5
,5,
I
3*C7 7C
*
3 ,67
I
3*,7 36,
3CC
3*
I
37C5 355
7
35
I
=.F D
6,>
0 +
*C C
7C5 6
I
,36 75
3
I
367
C
77
C
I
337 3
*75 3,C
I
73 3 *
35 ,C
I
6 , 5
55
,
I
,, 7
65 3*
I
5 5,
3
I
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F
=>
?
F .2 3/ 4 52 26 .6 4 27 23 62 4 66 53 68 4 42 /. .3 4 9. .6 74 4 /2
=> 4 46 4 4/ 4 9. 4 4/ 4 93 4 42 4 96 4 45 . ./ 4 49 4 ./ 4 4/
?
4:
4:
4:
4:
4:
4:
'
'
Æ
'
-
%
?
3=> $
" 36℄
-
'
=+>
8
?
5
-
)
?
3=>
'
-
)
'%!
& 1%
)
4
.
1
&
'
22 4 &
'% '%
8
!
)
Æ
0
%
(
-
'
11 %
'
) -
) = >
%
(
(
?
6
!
!!
!
-
%
?
3=> $
1
=> 1
%
= > .F
&
9
*&,,
#!&
#- .
#- /
) #'
#% (#
.
=.
>
F
0 + 0 +
6
5
*
.49 6.
5*33 3, *3 , .43 8/
5* 5 *
,
5 .49 38
3*67
,7
3 .49 87
3*
*3
3
5 ./3 37
* * 35
, ..5 74
.
=>
F
0 + 0 +
5, 3*
3 .46 52
57*5 5C *3 7 .47 92
575, 75 ** C .46 22
37 3 , , 6 .47 .6
7 73
* , ..6 58
7,3 3
, * ../ 77
.
= >
F
0 + 0 +
5C 35 7 .47 .9
57
7 56 *
.42 53
5C75 77 *C 5 .47 67
3C7, 5 *7 3 .45 85
C *
* ../ 77
76 5
.48 93
?
3=> '
!
+
%
'
)
%
&
' 3
11 %
1
=>
=
>
2
= >
Æ
&
'
1
%
(
!
% ,
6
&
% %
)
'
)
- %
=
>
)
= >
=3>
=5>
Æ
)
=6>
(
B
%
) '
/
8
11
' 11
Æ
?
% 1
)
1
'
%
(
&
&
+) +) +888
+
'
!
' (((
%
+
9
+
%&' +