Fuzzy robot controller tuning with biogeography-based optimization

Authors:
George Thomas;Paul Lozovyy;Dan Simon
Affiliations:
Cleveland State University, Department of Electrical and Computer Engineering, Cleveland, Ohio;Cleveland State University, Department of Electrical and Computer Engineering, Cleveland, Ohio;Cleveland State University, Department of Electrical and Computer Engineering, Cleveland, Ohio
Venue:
IEA/AIE'11 Proceedings of the 24th international conference on Industrial engineering and other applications of applied intelligent systems conference on Modern approaches in applied intelligence - Volume Part II
Year:
2011

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Abstract

Biogeography-based optimization (BBO) is an evolutionary algorithm (EA) based upon the models of biogeography, which describe the relationship between habitat suitability and the migration of species across habitats. In this work, we apply BBO to the problem of tuning the fuzzy tracking controller of mobile robots. This is an extension of previous work, in which we used BBO to tune a proportional-derivative (PD) controller for these robots. We show that BBO can successfully tune the shape of membership functions for a fuzzy controller with both simulation and real world experimental results.