Optimization of a reactive controller for mobile robots based on CRA

This paper describes the optimization of a reactive controller for a mobile autonomous robot using the Chemical Reaction Algorithm (CRA) method to adjust the parameters of the membership functions and rules of the fuzzy controller. The objective of reactive control is to apply the same ability that humans have when they are driving, i.e., to react to unexpected situations, traffic jams, traffic lights, etc. The CRA is a metaheuristic strategy that performs a stochastic search for optimal solutions. Every solution is represented as a chemical element, and the fitness of the element is evaluated by an objective function.