Systems and Computers in Japan, Vol. 30, No.
6, 1999
Translated from Denshi Joho Tsushin Gakkai Ronbunshi, Vol. J81-D-II, No. 1, January 1998, pp. 127–136
Optimization of Fuzzy Reasoning by Genetic Algorithm Using
Variable Bit-Selection Probability
Makoto Ohki, Toshiaki Moriyama, and Masaaki Ohkita
Tottori University, Japan
SUMMARY
Genetic algorithms (GA) are known as optimization
algorithms that can avoid convergence to local solutions by
global search in solution space. However, especially in the
field of control, when fuzzy reasoning is to be optimized,
global optimal solutions are not necessarily required. In
many cases, local solutions obtained at low cost are prefer-
able. For this purpose, GAs are used in combination with
other optimization algorithms, for example, steepest de-
scent or pattern search. In so doing, however, there is a
problem of differently representing the parameters to be
optimized. Besides, complicated software is required to
implement such combined methods. A method is proposed
in this paper to provide locality in search space by varying
the bit-selection probability in GA-based mutations in ac-
cord with learning progress. This makes possible local
search in the vicinity of good solutions found in the course
of optimization, resulting in rapid finding of local optimal
solutions. © 1999 Scripta Technica, Syst Comp Jpn, 30(6):
54–63, 1999
Key words: Fuzzy reasoning; optimization algo-
rithm; genetic algorithm; mutation; bit-selection prob-
ability
1. Introduction
Genetic algorithms (GAs) [1–3] are a variety of
optimization algorithms. However, distinct from the steep-
est descent and other methods, GAs offer solutions for
54
numerical optimum search, and can be also applied to
combinatorial search. In this paper, the application of GA
to optimization of fuzzy reasoning is discussed.
With optimization of fuzzy reasoning using GA,
there may be cases in which no good solutions are found
for certain fitness values, e.g., when a large number of
parameters are to be optimized. One of the reasons appears
to be related to the bit-selection probability (BSP) used for
mutations. Conventional GAs use a fixed BSP, and hence
mutations always result in global changes of the parameters
to be optimized. This makes possible global search for
global solutions, but on the other hand, local search around
some good solution is impossible. For this reason, a tech-
nique was proposed to adjust the GA search range. Specifi-
cally, in the course of mutation, the BSP value is altered
slightly for each bit of the parameters to be optimized so
that the value of the BSP is modified by learning. In other
words, local search is performed around certain good solu-
tions so that local solutions can be found in its vicinity.
There is another method, called simulated annealing
(SA), that allows probabilistic search like the GA, and
several learning methods merging SA with GA have been
proposed [4–6]. With the method proposed by Sirag et al.
(4], mutational probability is given by a parameter corre-
sponding to the acceptance probability in SA to obtain a
global optimal solution. On the other hand, with the modi-
fied SA proposed by Koakutsu et al. [5], the difference in
estimation before and after mutation and the acceptance
probability defined through temperature are used to identify
refused individuals and replace them with good individuals
achieving better estimation than the population average to
implement selection. In so doing, the temperature is re-
CCC0882-1666/99/060054-10
© 1999 Scripta Technica
duced by 10% for every generation. In the recent study by generated and evaluated repeatedly. Such search objects are
Jeong et al. [6], the same definition of acceptance prob- called individuals or genes. An algorithm cycle is called a
ability is used as in the aforementioned research by generation, and a set of generated search objects, that is,
Koakutsu. However, if the fitness does not improve within genes, is called a population. Several GA procedures are
a certain range of generations, the number of generations used to generate the population of the next generation.
for learning is reset to unity so that the high-temperature A formulation of fuzzy reasoning is offered below,
state is restored and the probability of avoiding local opti- gene coding is described and relevant GA procedures ex-
mal solutions grows. Here, the initial temperature T0 is set plained.
according to the worst estimation of initial individuals and
is then reduced at a rate of T0/log q, where q is the number 2.1. Genotype coding of fuzzy reasoning
of learning generations.
As in SA, the proposed method uses the principle of Fuzzy reasoning is used widely in the field of control.
elite preservation, in which declined individuals are not Among several types of fuzzy reasoning, so-called simpli-
passed to future generations. Further, mutations based on fied fuzzy reasoning is quite popular. In this case, the
the variable-rate selection probability do not necessitate consequent part is defined as a real number rather than as a
processing of the aforementioned temperature decrease. membership function (MSF). Simplified fuzzy reasoning
Other examples of fuzzy reasoning optimization us- [10, 11] is assumed in this study. With simplified fuzzy
ing GA include methods combining GA with various opti- reasoning, fuzzy rules are described as follows:
mization techniques, e.g., the steepest descent method [7,
8]. In addition, the methods have been extended to include
search based on fuzzy reasoning rules and positive results (1)
have been reported [9]. In all cases, the parameters are
readjusted using optimization algorithms other than GA Here i(i = 1, 2, . . . , M) is the rules’ number, y is the
because locally stable solution offering good fitness, that reasoning output, Ai1, . . . , AiN are fuzzy labels defined for
is, local optimal solution, is required as the end solution. the respective input variables, assumed here to represent the
Readjustment is performed primarily through the steepest corresponding MSF, and wi denotes consequent real num-
descent method or the simplex method. In so doing, fuzzy bers. In these rules, antecedent compatibility is expressed
inference estimation is required to adjust for every parame- as follows:
ter to determine the search direction vector. If fuzzy reason-
ing is optimized using such algorithms, there normally exist
many parameters to be optimized. Therefore, fuzzy reason- (2)
ing estimation requires numerous iterations, and finally, the
optimization time becomes a problem. In addition, combin-
ing different learning methods is complicated in practice. The fuzzy reasoning output y is defined by weighted aver-
The method proposed in this paper has only a slight aging as in the following expression:
change in optimization overhead with an increasing number
of parameters to be optimized because only the GA is used
(3)
as an optimization algorithm. In other words, the estimation
iterations do not increase in number in direct proportion to
the number of parameters when the gradient and search
The MSF used in expression (1) is defined as shown in Fig.
direction are determined, in contrast to the steepest descent
1, and is composed of three parameters. Using these pa-
method or pattern search.
rameters, the grade is calculated as follows:
The problem treated in this study is formulated in
section 2, and section 3 suggests an approach to the problem
based on variable bit-selection probability. Examples veri-
fying the proposed method are given in section 4, and
section 5 discusses its effectiveness. Finally, the results of
this study are summed up in section 6. (4)

2. Optimization of Fuzzy Reasoning by GA

The gene is configured as shown in Fig. 2. One gene
With GA, the parameters to be optimized are modi- represents a set of rules, that is, fuzzy reasoning. Fields are
fied stochastically. Then, objects for subsequent search are provided in the gene to express every rule. In every rule

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Fig. 1. MSF as a triangular function.
field, three parameters represent the antecedent MSF for
each rule, and the consequent real values are assigned. All
parameters are represented as binary numbers of finite bit
length in a fixed-point format. This allows easy implemen-
tation in computer programming languages. In this study,
the parameters to be optimized are represented as 16-bit
data (short integer data in C language).
2.2. Operations of GA
When developing a GA, a variety of implementations
are available from rudimentary to rather complicated, such
as those offering multipoint crossover. This study uses a
simple GA (which does not mean that a more complicated
GA could not be used). GA-based optimization involves the
following procedures:
1. Generating initial individuals
Using random numbers, a certain number of genes is
generated.
2. Evaluating all individuals and preserving supe-
rior ones
If two or more evaluation criteria are specified, mul-
tiple superior individuals with respect to each criterion
Fig. 2. Configuration of a gene.
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Fig. 3. Example of a crossover.
(semi-elite), and a single superior individual in terms of the
total evaluation are selected. In this study, the higher the
evaluation index, the worse the evaluation, and conversely,
the lower the evaluation index, the better the evaluation, that
is, the better the fitness.
3. Generating the population of a new generation
The elite and semi-elite individuals selected in pro-
cedure (2) are subjected to combined crossover/mutation as
explained below, and new individuals are generated, to be
evaluated as a new generation.
4. Crossover
A pair of genes is chosen from the new individuals,
and subjected to one-point crossover as shown in Fig. 3. A
randomly selected crossover position is taken as the rule
field boundary.
5. Mutation
A rule field is selected at random for the gene sub-
jected to mutation. For all parameters in this field, every bit
is inverted using a fixed BSP, as shown in the following
expression (see Fig. 4).
(5)
Here [ is a parameter’s bit position, and Pb([) is the BSP at
position [.
When the BSP is fixed, new individuals obtained by
mutation always offer global changes. Therefore, mutation
Fig. 4. Fixed BSP.
may be said always to perform global search. However,
when superior individuals are obtained in the course of
optimization, the conventional GAs described above do not
have sufficient capability for searching the solution space
in the vicinity of these superior individuals. This is com-
pensated for—but only to some degree—by randomly se-
lecting the parameters for mutation.

3. Variable Bit-Selection Probability

To allow a search for local optimal solutions in the

GA, the variable bit-selection probability (VBSP) is intro-
duced.
Here, two definitions of VBSP are proposed, and a
method of varying the VBSP in accordance with the learn-
ing evaluation is proposed.

3.1. Form of VBSP

The VBSP can be defined in various forms depending
on the bit-length of the parameters to be optimized. This
study considers the definition of BSP in terms of a triangu-
lar function across all bits of the parameters to be optimized,
and its definition in terms of a triangular window function
for a subset of the bits.
The definition of the VBSP by a triangular function
is illustrated in Fig. 5(a). In the diagram, bit position [ of
the parameter to be optimized is plotted on the abscissa, and
the domain of definition is from the least-significant bit
(LSB) position through the most-significant bit (MSB)
position:
(6)
The vertical axis represents the BSP with respect to
bit position [. Here the vertex of the triangular function is
placed at the point (K, 0.5). The ends of the function base
are placed at (LSB – 1.0) and (MSB + 1.0), so that the VBSP
does not equal 0. Here KH = ;. VBSP is defined according
to the learning fitness by moving the vertex position K, as
will be explained below. With the VBSP defined by a
triangular function, Pb([) is nonzero for all bits of the
parameter to be optimized. Therefore, the mutations are
endowed with locality while maintaining the possibility of
global search offered by the conventional methods.
The definition of VBSP in terms of a triangular
window function is shown in Fig. 5(b). Here a triangular
window with the center at (K, 0.5) and a width of 2 bits is
defined. This central position K is moved, as will be ex-
plained below. With such a VBSP defined by a triangular
window function, Pb([) includes zero areas. Therefore, in
the course of mutation, areas can be specified where bit
Fig. 5. Definitions of VBSPs.
inversion is not needed, which should reduce processing
load.
3.2. VBSP change
Normally it is assumed in GA-based learning that
initial individuals have poor fitness and that the fitness
improves as learning proceeds. Therefore, in the initial
stage of learning, a rough search should be performed
across as wide a range as possible, while gradually focusing
on the elite area. To realize this approach, at the initial stage
of learning, bits close to the MSBs of the parameters to be
optimized are subjected to intensive mutation, and as learn-
ing proceeds, mutation gradually shifts toward the LSB.
The VBSP parameter K is varied in the following
way:
1. Initially, learning occurs while using a fixed BSP
as given in expression (5).
2. The initial fitness is taken as e0 when the elite
estimation meets the following condition:
(7)
Here q is the number of generations, e(q) is the elite fitness
for the q-th generation, and eT is the threshold for the initial
elite fitness.
3. From this generation on, the point is shifted from
(e0, Hmax) toward (ef, Hmin) and ef denotes the target fitness,
as shown in Fig. 6.

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 The evaluation for gene G, that is, the fitness, is defined in
terms of the mean square error in the following way:

(13)

Here y0 and yf are the target output and fuzzy reasoning

output, respectively. In addition to this fitness covering the
whole input range, the range is divided into two parts, as
shown in Fig. 7(a), and a partial fitness is defined for each
Fig. 6. Setting of K by fitness.
part as follows:

(14)
The target fitness ef is the fitness that must be
achieved through learning. Hence, learning terminates as
soon as the fitness becomes equal to, or smaller than, the
target value.

4. Examples of VBSP Application

The application of the proposed method to two dif-

ferent types of problems is explained below. The first deals
with modeling a relationship expressed by a 2-input-1-out-
put numerical function using fuzzy reasoning. The other
involves acquisition of fuzzy reasoning rules for an autono-
mous mobile robot to turn left at a crossroad.

4.1. Approximation of 2-input-1-output

function

Consider modeling by fuzzy reasoning of the three

following 2-input-1-output functions defined on the do-
main D = {(x1, x2)~0 d x1d1, 0d x2 < 1}:

(8)
(9)

(10)

(11)

(12)
Fig. 7. Approximation of 2-input-1-output function:
problem setting.

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 (15)
Here D1 and D2 denote range 1 and range 2, respectively.
In this example, estimation is performed throughout
the input range. Therefore, the antecedent MSF covers the
input range in full, as shown in Fig. 7(a), and the genes are
configured as shown in Fig. 7(b). In particular, a gene
includes a field for the antecedent MSF of variable x1, a field
for antecedent MSF of variable x2, and a field for the
consequent real number.
The crossover position is fixed at the boundary be-
tween two antecedent MSF fields, and in the consequent
field it is selected at random, as shown in Fig. 7(b).
Populations are configured using elite and semi-elite
individuals, as illustrated in Fig. 7(c). In the diagram, the
elite individual and two semi-elite individuals are desig-
nated by E and S1, S2, respectively, and the symbols x and
c stand for crossover and mutation, respectively.
To verify the effect of VBSP, three different instances
were examined, as follows:
(M-1) A conventional fixed BSP given by expression
(5) was applied to all genes.
Fig. 8. Change of fitness in numerical approximation examples.
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(M-2) The fixed BSP was applied to genes 1–9, and
the rest of the genes 10–18 were handled using the VBSP
proposed in this paper.
(M-3) The VBSP was applied to all genes.
Figure 8 presents results obtained with the initial fitness
threshold in expression (7) set to eT = 0.3, and the target
fitness to ef = 0. In all cases, the fitness for each generation
is the average of 10 learning cycles.
4.2. Travel of an autonomous mobile robot at
a crossroad
Another problem used for verification dealt with
making an autonomous mobile robot turn left at a cross-
road.
The input parameters for the autonomous mobile
robot are x1, x2, x3, and I, as shown in Fig. 9(a), and the
output is the robot’s steering angle. Therefore, the fuzzy
reasoning to be optimized is the 4-input-1-output type. The
MSF and genes for all input variables were configured, as
explained in section 2. In this example, however, a semi-
elite is not defined, and the population is composed of eight
 If a collision occurs before the target exit is reached,

(19)

Here Dcollision is the distance from the collision point to the

target exit. Finally, the fitness is defined as follows:

(20)

To confirm the efficiency of VBSP, three different instances

were examined as follows:

(M-1) The conventional fixed BSP given by expres-

sion (5) was applied to all genes.
(M-2) A fixed BSP was applied to genes 1–4 and
while the rest of the genes 5–8 were handled using the
VBSP proposed in this paper.
(M-3) The VBSP was applied to all genes.

Figure 10 presents the results obtained with the initial

fitness threshold in expression (7) set to eT = 500, and with

Fig. 9. Travel at a crossroad: problem setting.

individuals, as shown in Fig. 9(b). Here S is the next-to-elite

gene as evaluated in the previous step. In addition, (A or B)c
stands for mutation where either A or B is chosen with equal
probabilities of 50%.
Here a gene’s fitness is defined in the following way.
At the moment when the mobile robot enters the crossroad,
estimation f1 is

(16)

Bf and Br are the tread lengths of the front and rear wheels,
respectively. When the target exit is reached, estimation f2
is given by

(17)

If a specified traveling distance is exceeded, for example,

if the robot arrives at an incorrect exit or is turning within
the crossroad, the estimation is given by
Fig. 10. Change of fitness in numerical crossroad travel
(18) example.

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a target fitness ef = 100. In all cases, the fitness for each
generation is the average of 10 learning cycles.
5. Discussion
As is obvious from the learning results shown in Figs.
8 and 10, the application of the VBSP to learning proved
efficient in all cases, ensuring rapid and good solutions.
When only the fixed BSP was used (M-1), fitness improve-
ment ceased at an early stage of learning, and better solu-
tions were no longer obtained. On the other hand, when
only the triangular VBSP was applied (M-3, triangular) and
when a combination of the fixed BSP and the triangular
window VBSP was used (M-2, triangular window), the
results were nearly the same as with (M-1) to a certain point,
but thereafter better solutions were obtained in subsequent
generations. Besides, subtle improvements in good solu-
tions were often observed. This may be attributed to the fact
that when the VBSP is used for mutations, local search is
performed around good solutions obtained up to the current
generation, which is helpful in achieving even better solu-
tions. The individual cases are examined below in more
detail.
5.1. Efficiency in approximating the
2-input-1-output function
Among the problems related to approximating 2-
input-1-output functions, the planar function in expression
(8) is comparatively simple. The function in (9) represents
a smooth curved surface. When approximating using a
triangular MSF, the mean square error is always nonzero
and at most three peaks exist within the domain. Thus, this
function can be considered the next simplest example prob-
lem after function (8). Expression (10) represents a discon-
tinuous function, whose approximation is a relatively
complicated problem. Thus, the fitness obtained when
learning is completed depends on the target function. With
function (8), learning was completed at a fitness of 0.06638
for (M-1) whereas the triangular modification (M-3) and
triangular window modification (M-2) produced better fit-
ness values of 0.02068 and 0.01347, respectively. A similar
tendency was also observed for functions (9) and (10).
5.2. Effectiveness in robot travel problem
In this example, inference rules were sought for an
evaluation related to multiple history-dependent parame-
ters (in our case, travel at the crossroad’s entrance and exit
was primarily evaluated). Therefore, as distinct from ap-
proximation problems, some generalization capability was
required here to estimate external conditions from control
61
input–output relationships. In such cases, generalization
performance is assumed to be dictated by MSF shape. In
other words, learning results can be expected to improve
dramatically when applying the VBSP. As will be seen in
Fig. 10, the triangular modification (M-3) and triangular
window modification (M-2) produced better learning re-
sults than (M-1). Although a fitness of only about 82.2802
could be obtained with (M-1), the triangular modification
(M-3) and the triangular window modification (M-2) pro-
duced better fitness values of 62.5329 and 70.2247, respec-
tively.
5.3. Effect of triangular VBSP
In the triangular VBSP, the value of the BSP is set
highest at the vertex of the triangular function and is defined
for all parameter bits. Therefore, a local search feature is
provided while maintaining the global search capability of
the conventional fixed BSP, so that in all examples (M-2)
offered better results than (M-1) and (M-3) offered even
better results than (M-2).
5.4. Effect of triangular window VBSP
The triangular VBSP (M-2) produced better results
than (M-3) in the triangular window VBSP. This may be
explained by the fact that BSP is defined for a subset of the
parameter bits. When only the triangular window VBSP
(M-3) is used, global search capabilities are not supported.
Therefore, if no good solutions are obtained near the MSB
at the initial stage, the next generation is unlikely to produce
better solutions. On the other hand, if the triangular window
VBSP is applied together with the fixed BSP (M-2), the
global search functions of the fixed BSP are combined with
the local search function of the triangular window VBSP,
which yields good results.
Now consider the volume of computation required
for mutational processing. With the triangular window
VBSP, a nonzero BSP is assigned to five bits at most.
Therefore, in 16-bit parameters, as in this study, the remain-
ing 11 bits are not processed. Normally, mutational proc-
essing includes random number generation, threshold
processing, and inversion for each bit. Thus, mutational
processing is expected to be reduced to about 30% com-
pared to the conventional method using a fixed BSP.
5.5. Setting initial fitness threshold
In the examples presented above, the initial fitness
threshold eT was set without special consideration. How-
ever, if eT is not set properly, VBSP-based mutations will
not necessarily produce a good search. This problem is
examined below in more detail.
 Results obtained for the examples given in section 4.1
through five learning cycles, with eT set to 0.1, 0.2, . . ., 1.0
are presented in Fig. 11(a)–(d). The initial fitness threshold
eT and the fitness obtained at learning completion are rep-
resented by the abscissa and ordinate, respectively. The
minimum, average, and maximum fitness are shown for
every value of the initial fitness threshold. Diagrams (a) and
(c) pertain to the approximation of function (8) and dia-
grams (b) and (d) pertain to the approximation of function
(9). Diagrams (a) and (b) pertain to the triangular modifi-
cation (M-3), and diagrams (c) and (d) pertain to the trian-
gular window modification (M-2).
In Fig. 11(a), at a small eT of 0.1, the switch from
fixed BSP to VBSP comes late and yields relatively poor
results. However, for 0.2 d eT d 1.0, good results are
obtained. On the other hand, in Fig. 11(b), 0.4 d eT d 1.0
proves to be an appropriate range. Because function (8) is
more difficult to approximate than function (9), and it is
therefore assumed that a higher initial threshold eT should
be set. However, if eT is set too high, the switch to VBSP
will take place too early so that the chances of performing
a search near MSB will be small.
In Fig. 11(c), nearly the same results are obtained
across the whole range of 0.1 d eT d 1.0. In contrast, Fig.
11(d) shows good results at 0.6 d eT d 0.8. When eT is set
higher, the switching to VBSP may even occur too soon, so
that the search near the MSB is not sufficient.
Thus, eT is assumed to be dependent on the VBSP
form and the problem to be solved. In Section 4.1, the
threshold eT was fixed at 0.3 for all examples, but different
thresholds yielded better results in some cases. Therefore,
the problem of setting the initial fitness threshold calls for
further investigation.

6. Conclusions

This paper has dealt with problems of optimizing

Fig. 11. Comparison of learning results at varied eT.
fuzzy reasoning by a GA. With problems of this sort,
acceptable solutions obtainable at low cost are often re-
quired rather than global optimal solutions. In this context,
the authors have proposed using variable bit-selection prob-
ability in GA mutation according to the learning fitness.
This imparts locality to the search range, thus making
possible a concentrated search in the vicinity of good solu-
tions produced in the course of learning. Then, local solu-
tions can be found quickly in the process of GA-based
learning.
The effectiveness of the proposed method was con-
firmed by examples of 2-input-1-output function approxi-
mation and the travel of an autonomous mobile robot at a
crossroad. However, the proposed method requires some
problem-specific knowledge, such as the initial fitness
threshold and target fitness. In the future, the VBSP tech-

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nique should be developed to perform without such prob-
lem-specific knowledge.
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AUTHORS (from left to right)

Makoto Ohki (member) completed his MS program at Tottori University in 1988 and was employed by Oki Electric Co.
Since 1994 he has been an assistant at Tottori University. His research interests include development of LISP workstations,
research in parallel computers for signal processing, autonomous mobile robots, and optimization of fuzzy reasoning. He is a
member of the IEE Japan.

Toshiaki Moriyama (student member) graduated from Tottori University in 1996 and was employed by Tottori prefectural
office. His research interests include autonomous mobile robots and automation of fuzzy reasoning.

Masaaki Ohkita (member) completed postgraduate studies at Osaka Prefectural University in 1968 and was employed
as an assistant by Tottori University. In 1990, he became an assistant professor and since 1993 he has been a professor. He has
a D.Eng. degree. His research interests include the load characteristics of power networks, function approximation, numerical
analysis and its applications to electric circuit analysis, and autonomous mobile robots. He is a member of the Information
Processing Society of Japan, the Robotics Society of Japan, the Japanese Fuzzy Technology Society, and IMACS.

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