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

Abstract

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.