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

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.