Fuzzy logic optimized control of a novel structure two-wheeled robotic vehicle using HSDBC, SDA and BFA: A comparative study

摘要

In this paper; three optimization algorithms are used to optimize the fuzzy control parameters of a novel structure two-wheeled robotic vehicle with a movable payload. The vehicle has five degrees of freedom and able to steer on irregular and inclined surfaces. Hybrid spiral dynamic bacterial chemotaxis (HSDBC), spiral dynamic algorithm (SDA) and bacterial forging algorithm (BFA) optimizations are applied to find the optimum values for vehicle controllers. The HSDBC algorithm has resulted in very fast convergence compared to the SDA and BFA algorithms. All implemented algorithms proved their efficiency in finding the optimum values within a similar grade of accuracy.