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Optimization of Fuzzy Control Systems for Mobile Robots Based on PSO

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Recent Advances on Hybrid Approaches for Designing Intelligent Systems

Part of the book series: Studies in Computational Intelligence ((SCI,volume 547))

Abstract

This paper describes the optimization of a navigation controller system for a mobile autonomous robot using the PSO algorithm to adjust the parameters of each fuzzy controller, the navigation system is composed of 2 main controllers, a tracking controller and a reactive controller, plus an integrator block control that combines both fuzzy inference systems (FIS). The integrator block is called Weighted Fuzzy Inference System (WFIS) and assigns weights to the responses in each block of behavior in order to combine them into a single response. A comparison with the results obtained with genetic algorithms is also performed.

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Acknowledgments

We would like to express our gratitude to CONACYT, and Tijuana Institute of Technology for the facilities and resources granted for the development of this research.

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Authors and Affiliations

  1. Tijuana Institute of Technology, Tijuana, Mexico

    David de la O, Oscar Castillo & Abraham Meléndez

Authors
  1. David de la O
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  2. Oscar Castillo
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  3. Abraham Meléndez
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Corresponding author

Correspondence to Oscar Castillo .

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Editors and Affiliations

  1. Division of Graduate Studies and Research, Tijuana Institute of Technology, Tijuana, Mexico

    Oscar Castillo

  2. Division of Graduate Studies and Research, Tijuana Institute of Technology, Tijuana, Mexico

    Patricia Melin

  3. Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta, Canada

    Witold Pedrycz

  4. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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de la O, D., Castillo, O., Meléndez, A. (2014). Optimization of Fuzzy Control Systems for Mobile Robots Based on PSO. In: Castillo, O., Melin, P., Pedrycz, W., Kacprzyk, J. (eds) Recent Advances on Hybrid Approaches for Designing Intelligent Systems. Studies in Computational Intelligence, vol 547. Springer, Cham. https://doi.org/10.1007/978-3-319-05170-3_14

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  • DOI: https://doi.org/10.1007/978-3-319-05170-3_14

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