Goal-Seeking Behavior-Based Mobile Robot Using Particle Swarm Fuzzy Controller
Abstract: Behavior-based
control architecture has successfully demonstrated their competence in mobile robot
development. Fuzzy logic system characteristics are suitable to address the
behavior design problems. However, there are difficulties encountered when
setting fuzzy parameters manually. Therefore, most of the works in the field
generate certain interest for the study of fuzzy systems with added learning capabilities.
This paper presents the development of fuzzy behavior-based control
architecture usingParticle Swarm Optimization (PSO). A goal-seeking behaviors
based on Particle Swarm Fuzzy Controller(PSFC) are developed using the modified
PSO with two stages of the PSFC process. Several simulations and experiments
with MagellanPro mobile robot have been performed to analyze the performance of
the algorithm. The promising results 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, Yudhi
Gunardi, Badaruddin, Eko Ihsanto
Journal Code: jptkomputergg150043
