Bio-inspired optimization of fuzzy logic controllers for autonomous mobile robots

Author

Martinez-Soto, Ricardo ; Castillo, Oscar ; Aguilar, Luis T. ; Baruch, Ieroham S.

Author_Institution

Tijuana Inst. of Technol., Tijuana, Mexico

fYear

2012

fDate

6-8 Aug. 2012

Firstpage

1

Lastpage

6

Abstract

In this paper we propose the use of a hybrid PSO-GA optimization method for automatic design of fuzzy logic controllers (FLC). The optimal fuzzy logic controllers are used for the trajectory tracking control of autonomous mobile robots. The bio-inspired and the evolutionary methods are used to find the parameters of the membership functions of the FLC to obtain the optimal controller. Simulation results are obtained with Simulink showing the feasibility of the proposed approach. A comparison is also made among the proposed Hybrid PSO-GA, GA and PSO to determine if there is a significant difference in the results.

Keywords

fuzzy control; genetic algorithms; mobile robots; optimal control; particle swarm optimisation; tracking; trajectory control; FLC; Simulink; automatic design; autonomous mobile robot; bioinspired optimization; evolutionary method; hybrid PSO-GA optimization method; membership function; optimal fuzzy logic controller; trajectory tracking control; Fuzzy logic; Genetic algorithms; Mobile robots; Particle swarm optimization; Sociology; Trajectory; Autonomous Mobile Robot; Fuzzy Logic Controllers; Genetic Algorithms; Particle Swarm Optimization;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Information Processing Society (NAFIPS), 2012 Annual Meeting of the North American

Conference_Location

Berkeley, CA

ISSN

pending

Print_ISBN

978-1-4673-2336-9

Electronic_ISBN

pending

Type

conf

DOI

10.1109/NAFIPS.2012.6291053

Filename

6291053