Amador-Angulo L, Castillo O, Melin P, Castro JR. Interval Type-3 Fuzzy Adaptation of the Bee Colony Optimization Algorithm for Optimal Fuzzy Control of an Autonomous Mobile Robot.
MICROMACHINES 2022;
13:1490. [PMID:
36144113 PMCID:
PMC9503405 DOI:
10.3390/mi13091490]
[Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/25/2022] [Revised: 09/03/2022] [Accepted: 09/05/2022] [Indexed: 06/16/2023]
Abstract
In this study, the first goal is achieving a hybrid approach composed by an Interval Type-3 Fuzzy Logic System (IT3FLS) for the dynamic adaptation of α and β parameters of Bee Colony Optimization (BCO) algorithm. The second goal is, based on BCO, to find the best partition of the membership functions (MFs) of a Fuzzy Controller (FC) for trajectory tracking in an Autonomous Mobile Robot (AMR). A comparative with different types of Fuzzy Systems, such as Fuzzy BCO with Type-1 Fuzzy Logic System (FBCO-T1FLS), Fuzzy BCO with Interval Type-2 Fuzzy Logic System (FBCO-IT2FLS) and Fuzzy BCO with Generalized Type-2 Fuzzy Logic System (FBCO-GT2FLS) is analyzed. A disturbance is added to verify if the FBCO-IT3FLS performance is better when the uncertainty is present. Several performance indices are used; RMSE, MSE and some metrics of control such as, ITAE, IAE, ISE and ITSE to measure the controller’s performance. The experiments show excellent results using FBCO-IT3FLS and are better than FBCO-GT2FLS, FBCO-IT2FLS and FBCO-T1FLS in the adaptation of α and β parameters.
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