Optimization of membership function parameters for fuzzy controllers of an autonomous mobile robot using the flower pollination algorithm

In this work we describe the optimization of a Fuzzy Logic Controller (FLC) for an autonomous mobile robot that needs to follow a desired path. The FLC is for the simulation of its trajectory, the parameters of the membership functions of the FLC had not been previously optimized. We consider in this work with the flower pollination algorithm (FPA) as a method for optimizing the FLC. For this reason, we use the FPA to find the best parameters with the objective of minimizing the error between the trajectory of the robot and the reference. A comparative study of results with different metaheuristics is also presented in this work.

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Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).