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Goal-Seeking Behavior-Based Mobile Robot Using Particle Swarm Fuzzy Controller

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... Full description

Journal Title: TELKOMNIKA Jun 2015, Vol.13(2), pp.528-538
Main Author: Adriansyah, Andi
Other Authors: Gunardi, Yudhi , Badaruddin, Eko , Ihsanto, Eko
Format: Electronic Article Electronic Article
Language: English
Subjects:
ID: ISSN: 16936930 ; DOI: 10.12928/TELKOMNIKA.v13i2.1111
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recordid: proquest1804903154
title: Goal-Seeking Behavior-Based Mobile Robot Using Particle Swarm Fuzzy Controller
format: Article
creator:
  • Adriansyah, Andi
  • Gunardi, Yudhi
  • Badaruddin, Eko
  • Ihsanto, Eko
subjects:
  • Engineering
ispartof: TELKOMNIKA, Jun 2015, Vol.13(2), pp.528-538
description: 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 using Particle 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.
language: eng
source:
identifier: ISSN: 16936930 ; DOI: 10.12928/TELKOMNIKA.v13i2.1111
fulltext: fulltext_linktorsrc
issn:
  • 16936930
  • 1693-6930
url: Link


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descriptionBehavior-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 using Particle 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.
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