We have already developed a fuzzy behavior-based control system that combines the concept of subsumption architecture and fuzzy reasoning technique. When applying it to a mobile robot, the robot needs to have precise information such as distance and azimuth. We discuss how to construct the fuzzy behavior-based control system for a miniature mobile robot in the case when the robot can not often receive any information from sensors. In addition, we apply a virus evolutionary genetic algorithm with species to generating the fuzzy rule. The effectiveness of the proposed method is shown by simulations.
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