Optimization of membership function parameters for fuzzy controllers of an autonomous mobile robot using the firefly algorithm

Abstract

Bio-Inspired Algorithms are effective for solving optimization problems, in particular for finding the appropriate parameter values for the membership functions used in fuzzy control. Fuzzy controllers are widely used in engineering, industrial, and medical solutions and other fields. Fuzzy models help to represent informal, unstructured abstract knowledge into formal mathematical models. In this paper the firefly algorithm is used to optimize fuzzy controllers for autonomous mobile robots. In this work optimization of parameters of the membership functions in fuzzy control systems allows a better performance of the actuators that are controlling an autonomous robot. This article will explain the proposed methodology for the optimization of parameters of membership functions of a tracking fuzzy controller for a mobile autonomous robot using the firefly algorithm.