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Journal > Jurnal Ilmu Komputer dan Informasi > WALL-FOLLOWING BEHAVIOR-BASED MOBILE ROBOT USING PARTICLE SWARM FUZZY CONTROLLER

 

Jurnal Ilmu Komputer dan Informasi
Vol 9, No 1 (2016): Jurnal Ilmu Komputer dan Informasi
WALL-FOLLOWING BEHAVIOR-BASED MOBILE ROBOT USING PARTICLE SWARM FUZZY CONTROLLER
Article Info   ABSTRACT
Published date:
15 Feb 2016
 
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.
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