Navigation Control of Mobile Robots Using an Interval Type-2 Fuzzy Controller Based on Dynamic-group Particle Swarm Optimization

This paper presents an effective navigation control method for mobile robots in an unknown environment. The proposed behavior manager (BM) switches between two behavioral control patterns, wall-following behavior (WFB) and toward-goal behavior (TGB), based on the relationship between the mobile robo...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2018, Automation, and Systems, 16(5), , pp.2446-2457
Main Authors: Jhang, Jyun-Yu, Lin, Cheng-Jian, Lin, Chin-Teng, Young, Kuu-Young
Format: Article
Language:English
Subjects:
Artificial neural networks
Control
Engineering
Fitness
Fuzzy control
Fuzzy logic
Mechatronics
Navigation
Neural networks
Obstacle avoidance
Particle swarm optimization
Regular Papers
Robot control
Robotics
Robots
Signal processing
Switches
Unknown environments
제어계측공학
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Summary:This paper presents an effective navigation control method for mobile robots in an unknown environment. The proposed behavior manager (BM) switches between two behavioral control patterns, wall-following behavior (WFB) and toward-goal behavior (TGB), based on the relationship between the mobile robot and the unknown environment. An interval type-2 fuzzy neural controller with a dynamic-group particle swarm optimization (DGPSO) algorithm is proposed to provide WFB control and obstacle avoidance for mobile robots. In the WFB learning process, the input signal of a controller is the distance between the wall and the sonar sensors, and its output signal is the speed of two wheels of a mobile robot. A fitness function, which operates on the total distance traveled by the mobile robot, distance from the side wall, angle to the side wall, and moving speed, evaluates the WFB performance of the mobile robot. In addition, an escape mechanism is proposed to avoid a dead cycle. Experimental results reveal that the proposed DGPSO is superior to other methods in WFB and navigation control.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-017-0156-5