BFA optimized intelligent controller for path following unicycle robot over irregular terrains

Authors

  • Abdullah Almeshal Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Khaled Goher Institute of Biomedical Technologies, Auckland University of Technology, Auckland, New Zealand Author
  • Mohammed R. Alenezi Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Ahmad Almazeed Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Jamal Almatawah Civil Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Muhammad Moaz Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author
  • Najat Al-rashed Electronics Engineering Technology Department, College of Technological Studies, Public Authority for Applied Education and Training (PAAET), Kuwait Author

Keywords:

unicycle robot, path tracking, BFA, optimization, fuzzy logic controller.

Abstract

This paper presents the performance of applying a bacterial foraging optimisation algorithm (BFA) algorithm on an intelligent controller for a unicycle class of differential drive robot. Previous studies have focused on regular terrains. In this work, an intelligent hybrid fuzzy logic controller is developed and implemented for the unicycle robot to follow a predefined trajectory on an irregular rough terrain of concrete and gravel. The controller gains and scaling factors where optimised using BFA to minimise the overall system mean square error. Simulations have shown the effectiveness of the control method in achieving a good convergence towards the optimal gains on the irregular rough surfaces.

References

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Published

2015-04-30

Issue

Vol.5, No.2 (Mar/Apr 2015)

Section

Articles

How to Cite

BFA optimized intelligent controller for path following unicycle robot over irregular terrains. (2015). International Journal of Current Engineering and Technology, 5(2), 1199-1204. https://ijcet.evegenis.org/index.php/ijcet/article/view/2513