Parameter tuning of membership functions of a type-1 and type-2 fuzzy logic controller for an autonomous wheeled mobile robot using ant colony optimization

Author

Martínez-Marroquín, R. ; Castillo, O. ; Soria, J.

Author_Institution

Div. of Grad. Studies & Res., Tijuana Inst. of Technol., Tijuana, Mexico

fYear

2009

fDate

11-14 Oct. 2009

Firstpage

4770

Lastpage

4775

Abstract

In this paper we describe the application of a Simple ACO (S-ACO) as an optimization method for the membership functions´ parameters of a fuzzy logic controller (FLC) in order to find the optimal intelligent controller for an autonomous wheeled mobile robot. Simulation results show that ACO outperforms a GA in the optimization of FLCs for an autonomous mobile robot.

Keywords

fuzzy control; intelligent control; mobile robots; optimal control; optimisation; wheels; ant colony optimization; autonomous wheeled mobile robot; membership function; optimal intelligent controller; parameter tuning; type-1fuzzy logic controller; type-2 fuzzy logic controller; Ant colony optimization; Competitive intelligence; Control systems; Fuzzy logic; Fuzzy systems; Intelligent robots; Mobile robots; Optimal control; Optimization methods; Particle swarm optimization; Intelligent control; Mobile robots; Optimization; Swarm Intelligence; fuzzy logic;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on

Conference_Location

San Antonio, TX

ISSN

1062-922X

Print_ISBN

978-1-4244-2793-2

Electronic_ISBN

1062-922X

Type

conf

DOI

10.1109/ICSMC.2009.5346080

Filename

5346080