摘要：The paper presents the research whose the main goal was to compare a new Fuzzy System with Neural Aggregation of fuzzy rules FSNA with a classical Takagi-Sugeno-Kanga TSK fuzzy system in an anti-collision problem of Unmanned Surface Vehicle USV.Both systems the FSNA and the TSK were learned by means of Cooperative Co-evolutionary Genetic Algorithm with Indirect Neural Encoding CCGA-INE.The paper includes an introduction to the subject,a description of the new FSNA and the tuning method CCGA-INE,and at the end,numerical research results with a summary.The research includes comparison of the FSNA with the classical TSK system in the anti-collision problem of the USV.
关键词：neuro-fuzzy system;neural aggregation of fuzzy rules;cooperative co-evolution;anti-collision of USV
