Optimization of Fuzzy Logic Controller Using PSO for Mobile Robot Navigation in an Unknown Environment

2014 ◽  
Vol 541-542 ◽  
pp. 1053-1061 ◽  
Author(s):  
Mohammed Algabri ◽  
Hedjar Ramdane ◽  
Hassan Mathkour ◽  
Khalid Al-Mutib ◽  
Mansour Alsulaiman
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Membership Function ◽  
Fuzzy Logic Controller ◽  
Robot Navigation ◽  
Field Performance ◽  
Mobile Robot Navigation ◽  
Autonomous Mobile Robot ◽  
Swarm Optimization ◽  
The Membership Function

The control of autonomous mobile robot in an unknown environments include many challenge. Fuzzy logic controller is one of the useful tool in this field. Performance of fuzzy logic controlling depends on the membership function, so the membership function adjusting is a time consuming process. In this paper, we optimized a fuzzy logic controller (Fuzzy) by automatic adjusting the membership function using a particle swarm optimization (PSO). The proposed method (PSO-Fuzzy) is implemented and compared with Fuzzy using Khepera simulator. Moreover, the performance of these approaches compared through experiments using a real Khepera III platform.

scholarly journals PSO based path planner of an autonomous mobile robot

2012 ◽  
Vol 2 (2) ◽  
Author(s):  
B. Deepak ◽  
Dayal Parhi
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Fitness Function ◽  
Optimal Path ◽  
Mobile Robot Navigation ◽  
Autonomous Mobile Robot ◽  
Swarm Optimization ◽  
Novel Approach ◽  
Fitness Value ◽  
Path Planner

AbstractA novel approach based on particle swarm optimization has been presented in this paper for solving mobile robot navigation task. The proposed technique tries to optimize the path generated by an intelligent mobile robot from its source position to destination position in its work space. For solving this problem, a new fitness function has been modelled, which satisfies the obstacle avoidance and optimal path traversal conditions. From the obtained fitness values of each particle in the swarm, the robot moves towards the particle which is having optimal fitness value. Simulation results are provided to validate the feasibility of the developed methodology in various unknown environments.

Genetic Q-Fuzzy Based Intelligent Control for Mobile Robot Navigation

2004 ◽  
Author(s):  
V. Ram Mohan Parimi ◽  
Devendra P. Garg
Keyword(s):  
Genetic Algorithm ◽  
Fuzzy Logic ◽  
Reinforcement Learning ◽  
Mobile Robot ◽  
Fuzzy Logic Controller ◽  
Learning Algorithm ◽  
Robot Navigation ◽  
Path Tracking ◽  
Mobile Robot Navigation ◽  
Reinforcement Learning Algorithm

This paper deals with the design and optimization of a Fuzzy Logic Controller that is used in the obstacle avoidance and path tracking problems of mobile robot navigation. The Fuzzy Logic controller is tuned using reinforcement learning controlled Genetic Algorithm. The operator probabilities of the Genetic Algorithm are adapted using reinforcement learning technique. The reinforcement learning algorithm used in this paper is Q-learning, a recently developed reinforcement learning algorithm. The performance of the Fuzzy-Logic Controller tuned with reinforcement controlled Genetic Algorithm is then compared with the one tuned with uncontrolled Genetic Algorithm. The theory is applied to a two-wheeled mobile robot’s path tracking problem. It is shown that the performance of the Fuzzy-Logic controller tuned by Genetic Algorithm controlled via reinforcement learning is better than the performance of the Fuzzy-Logic controller tuned via uncontrolled Genetic Algorithm.

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