WALL-FOLLOWING BEHAVIOR-BASED MOBILE ROBOT USING PARTICLE SWARM FUZZY CONTROLLER
Abstract: Behavior-based
control architecture has been broadly recognized due to their compentence in
mobile robot development. Fuzzy logic system characteristics are appropriate to
address the behavior design problems. Nevertheless, there are problems
encountered when setting fuzzy variables manually. Consequently, most of the
efforts in the field, produce certain works for the study of fuzzy systems with
added learning abilities. This paper presents the improvement of fuzzy
behavior-based control architecture using Particle Swarm Optimization (PSO). A
wall-following behaviors used on Particle Swarm Fuzzy Controller (PSFC) are
developed using the modified PSO with two stages of the PSFC process. Several
simulations have been accomplished to analyze the algorithm. The promising
performance have proved that the proposed control architecture for mobile robot
has better capability to accomplish useful task in real office-like
environment.
Author: Andi Adriansyah,
Shamsudin H. Mohd. Amin
Journal Code: jptkomputergg160007
