Particle swarm optimization and fuzzy logic control in gas leakage detector mobile robot

摘要

There are few challenges in the detection of gas leaks using a mobile robot such as, the search space is vast, needed of a certain level of intelligence so that the searching process of robot become optimal, and the complexity to deal with unstructured environments. Combination of Particle Swarm Optimization(PSO) and Fuzzy Logic Control(FLC) can answer these challenges, PSO role as each robot can conduct cooperation in the searching process of robots, where robots can tell the nearest other robot best position. FLC roles to handle complexity in avoiding other robots and obstacles so that the robot can avoid obstacles smoothly. As results of the simulation showed that PSO-FLC control can detect gas leak's source better based on the output of velocity and turning control as well as better travel time search, compared with the control of mobile robots without any PSO or FLC.