Nature inspired chemical optimization to design a type-2 fuzzy controller for a mobile robot

Abstract

In this paper, we consider an optimization method inspired on the chemical reactions to find the gain constants involved in the tracking controller for the dynamic model of an unicycle autonomous mobile robot. The tracking controller integrates a kinematic and a torque controller based on fuzzy logic theory. The process of finding these constants was made previously using genetic algorithms. The aim of this paper is to introduce the application of the optimization algorithm based on the chemical paradigm and compare it with the results obtained by other optimization techniques.