BFA optimized intelligent controller for path following unicycle robot over irregular terrains

Abstract

This paper presents the performance of applying a bacterial foraging optimisation algorithm (BFA) algorithm on an intelligent controller for a unicycle class of differential drive robot. Previous studies have focused on regular terrains. In this work, an intelligent hybrid fuzzy logic controller is developed and implemented for the unicycle robot to follow a predefined trajectory on an irregular rough terrain of concrete and gravel. The controller gains and scaling factors where optimised using BFA to minimise the overall system mean square error. Simulations have shown the effectiveness of the control method in achieving a good convergence towards the optimal gains on the irregular rough surfaces.