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Shamsudin H. Mohd. Amin
Center of Artificial Intelligent and Robotics (CAIRO), Universiti Teknologi Malaysia
Computer Science & IT

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WALL-FOLLOWING BEHAVIOR-BASED MOBILE ROBOT USING PARTICLE SWARM FUZZY CONTROLLER Andi Adriansyah; Shamsudin H. Mohd. Amin
Jurnal Ilmu Komputer dan Informasi Vol 9, No 1 (2016): Jurnal Ilmu Komputer dan Informasi (Journal of Computer Science and Information)
Publisher : Faculty of Computer Science - Universitas Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (854.753 KB) | DOI: 10.21609/jiki.v9i1.367

Abstract

Behavior-based control architecture has been broadly recognized due to their compentence in mobile robot development. Fuzzy logic system characteristics are appropriate to address the behavior design problems. Nevertheless, there are problems encountered when setting fuzzy variables manually. Consequently, most of the efforts in the field, produce certain works for the study of fuzzy systems with added learning abilities. This paper presents the improvement of fuzzy behavior-based control architecture using Particle Swarm Optimization (PSO). A wall-following behaviors used on Particle Swarm Fuzzy Controller (PSFC) are developed using the modified PSO with two stages of the PSFC process. Several simulations have been accomplished to analyze the algorithm. The promising performance have proved that the proposed control architecture for mobile robot has better capability to accomplish useful task in real office-like environment.
Co-Authors Andi Adriansyah