Optimization of fuzzy control systems for mobile robots based on PSO

Abstract

This paper describes the optimization of a navigation controller system for a mobile autonomous robot using the PSO algorithm to adjust the parameters of each fuzzy controller, the navigation system is composed of 2 main controllers, a tracking controller and a reactive controller, plus an integrator block control that combines both fuzzy inference systems (FIS). The integrator block is called Weighted Fuzzy Inference System (WFIS) and assigns weights to the responses in each block of behavior in order to combine them into a single response. A comparison with the results obtained with genetic algorithms is also performed.