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Journal of Information Science and Engineering, Vol. 31 No. 3, pp. 1027-1049 (May 2015)

A Self-Adaptive Intelligent Control System with Hierarchical Architecture*

1Department of Information Management
Hsuan Chuang University
Hsinchu, 300 Taiwan
2Department of Industrial and Information Management
National Cheng Kung University
Tainan, 701 Taiwan

This paper presents an Intelligent Control System with Hierarchical Architecture, namely ICSHA. The advantages of three-layered ICSHA are able to carry out multiple tasks and to adjust its control rules automatically to adapt environments. The first layer, Planning Layer, we propose the ASGO (an extension version of Ant System with Genetic Operators) to determine the executing order of subtasks. The visiting schedule is then supervised by second layer, Executive Layer. The third layer, Behavior Layer, is to execute each subtask by using the proposed intelligent control module. While the control module cannot adapt the environment, the proposed iQGA (an improved Quantum Genetic Algorithm) is activated to explore better control actions for producing adaptable control rules. An application of robotic trash collection task is constructed to demonstrate the proposed methods. The simulation results showed that the performances of ASGO and iQGA are satisfied. Simulation result also reveals the adaptability of ICSHA.

Keywords: ant system, genetic algorithm, intelligent control, path planning, quantum genetic algorithm

Full Text () Retrieve PDF document (201505_14.pdf)

Received October 23, 2013; revised December 27, 2013; accepted February 9, 2014.
Communicated by Tzung-Pei Hong.
* This work was supported in part by the Ministry of Science and Technology, Taiwan, under Contract NSC101-2410-H-006-018-MY3.