Abstract
In this paper we describe the application of a Simple ACO (S-ACO) as a method of optimization for 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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bloch, A.M.: Nonholonomic mechanics and control. Springer, New York (2003)
Brockett, R.W.: Asymptotic stability and feedback stabilization. In: Millman, R.S., Susman, H.J. (eds.) Diferential Geometric Control Theory, p. 181. Birkhauser, Boston (1983)
Castillo, O., Melin, P.: Soft Computing for Control of Non-Linear Dynamical Systems. Springer, Helderberg (2001)
Dorigo, M., Birattari, M., Stützle, T.: Ant Colony Optimization. IEEE Computational Intelligence Magazine, 28–39 (November 2006)
Dorigo, M., Stützle, T.: Ant Colony Optimization, Bradford, Cambridge, Massachusetts (2004)
Duc Do, K., Zhong-Ping, Y., Pan, J.: A global output-feedback controller for simultaneous tracking and stabilizations of unicycle-type mobile robots. IEEE Trans. Automat. Contr. 20(3), 589–594 (2004)
Engelbrecht, A.P.: Fundamentals of Computational Swarm Intelligence. Wiley, England (2005)
Lee, T.-C., Song, K.-T., Lee, C.-H., Teng, C.-C.: Tracking control of unicycle-modeled mobile robot using a saturation feedback controller. IEEE trans. Contr. Syst. Technol. 9(2), 305–318 (2001)
Liberzon, D.: Switching in Systems and control. Bikhauser (2003)
Martínez, R., Castillo, O., Aguilar, L.: Intelligent control for a perturbed autonomous wheeled mobile robot using type-2 fuzzy logic and genetic algorithms. JAMRIS 2(1), 1–11 (2008)
Porta-García, M., Montiel, O., Sepulveda, R.: An ACO path planner using a FIS for a Path Selection Adjusted with a Simple Tuning Algorithm. JAMRIS 2(1), 1–11 (2008)
Sepúlveda, R., Castillo, O., Melin, P., Montiel, O.: An Efficient Computational Method to Implement Type-2 Fuzzy Logic In control Applications, Analysis and Design of Intelligent Systems Using Soft Computing Techniques. Advances in Soft Computing 41, 45–52 (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Martínez-Marroquín, R., Castillo, O., Soria, J. (2009). Optimization of Membership Functions of a Fuzzy Logic Controller for an Autonomous Wheeled Mobile Robot Using Ant Colony Optimization. In: Castillo, O., Pedrycz, W., Kacprzyk, J. (eds) Evolutionary Design of Intelligent Systems in Modeling, Simulation and Control. Studies in Computational Intelligence, vol 257. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04514-1_1
Download citation
DOI: https://doi.org/10.1007/978-3-642-04514-1_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-04513-4
Online ISBN: 978-3-642-04514-1
eBook Packages: EngineeringEngineering (R0)