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:   ..
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:  100
:  
:  2022
:   .. // . 100. .: , 2022. .216-235. DOI: https://doi.org/10.25728/ubs.2022.100.10
:   , ,
(.):  path planning, genetic algorithm, fuzzy logic
:   . . . , , . , , . . , Arduino Uno, .
(.):  The paper considers the task of control a mobile agent in a dynamic unknown environment. To solve this problem, it is proposed to use a neuro-fuzzy controller. To adjust the parameters of the controller, a genetic algorithm is used. The paper also proposes a modification of the genetic algorithm that allows to configure not only the parameters of the membership functions of linguistic variables, but also their type. This allows to fine-tune the controller and, as a result, improve the quality of the system. The effectiveness of the proposed approach was confirmed by computer simulation in the developed virtual environment. The resulting controller was used in a physical experiment with a mobile agent implemented on the basis of Arduino Uno, in an environment with dynamic and static obstacles.

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