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Optimization of Fuzzy Controllers for Autonomous Mobile Robots Using the Stochastic Fractal Search Method

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Recent Advances of Hybrid Intelligent Systems Based on Soft Computing

Part of the book series: Studies in Computational Intelligence ((SCI,volume 915))

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Abstract

This paper aims at measuring the improvement in performance and efficiency of fuzzy controllers after being optimized. The Stochastic Fractal Search (SFS) method is used to optimize the membership functions of a fuzzy controller for an autonomous mobile robot. The experimentation is based on getting the method to reduce the error that exists between the desired trajectory and the real trajectory of the robot. First, the efficiency of the SFS method is tested with benchmark functions, which aims at finding the overall minimum for each of the functions. The SFS method is inspired by fractals, a kind of fragmented structure, which grows at every scale with self-similarity. After testing with different dimensions in the Unimodal functions and Multimodal functions, we proceed with the optimization of the fuzzy controller. Simulation results show the advantages of SFS in fuzzy control optimization.

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Acknowledgements

We would like to express our gratitude to CONACYT and to Tijuana Institute of Technology for the help and resources provided for the development of this research.

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Authors and Affiliations

  1. Tijuana Institute of Technology, Tijuana, BC, Mexico

    Marylu L. Lagunes, Oscar Castillo, Fevrier Valdez, Jose Soria & Patricia Melin

Authors
  1. Marylu L. Lagunes
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  2. Oscar Castillo
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  3. Fevrier Valdez
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  4. Jose Soria
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  5. Patricia Melin
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Corresponding author

Correspondence to Oscar Castillo .

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Editors and Affiliations

  1. Division of Graduate Studies and Research, Tijuana Institute of Technology, Tijuana, Mexico

    Patricia Melin

  2. Division of Graduate Studies and Research, Tijuana Institute of Technology, Tijuana, Mexico

    Oscar Castillo

  3. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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Lagunes, M.L., Castillo, O., Valdez, F., Soria, J., Melin, P. (2021). Optimization of Fuzzy Controllers for Autonomous Mobile Robots Using the Stochastic Fractal Search Method. In: Melin, P., Castillo, O., Kacprzyk, J. (eds) Recent Advances of Hybrid Intelligent Systems Based on Soft Computing. Studies in Computational Intelligence, vol 915. Springer, Cham. https://doi.org/10.1007/978-3-030-58728-4_10

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