Comparative study of bio-inspired algorithms applied to the optimization of type-1 and type-2 fuzzy controllers for an autonomous mobile robot

Abstract

In this paper we describe the application of Ant Colony Optimization (ACO) and Particle Swarm Optimization (PSO) on the optimization of the membership functions' parameters of a fuzzy logic controller (FLC) in order to find the optimal intelligent controller for an autonomous wheeled mobile robot. The results obtained by the simulations performed are statistically compared among them and the previous work results obtained with GAs in order to find which is the best optimization technique for this particular robotics problem. © 2010 Elsevier Inc. All rights reserved.