Hybrid Spiral Dynamic Bacterial Chemotaxis Ooptimisation For Hybrid Fuzzy Logic Control Of A Novel Two Wheeled Robotic Vehicle

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Almeshal, A. M. and Goher, K. M. and Ahmad Nor Kasruddin, Nasir and Tokhi, M. O. and Agouri, S. A. (2013) Hybrid Spiral Dynamic Bacterial Chemotaxis Ooptimisation For Hybrid Fuzzy Logic Control Of A Novel Two Wheeled Robotic Vehicle. In: Sixteenth International Conference on Climbing and Walking Robots CLAWAR 2013, 14 – 17 July 2013 , Sydney, Australia. pp. 179-188..

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Abstract

A hybrid spiral dynamic bacterial chemotaxis (HSDBC) optimisation algorithm is used to optimise the parameters of a fuzzy logic control system of a new structure of two - wheeled robotic vehicle. The vehicle has a novel structure based on double inverted pendulum with a movable payload and 5 degrees of freedom. HSDBC algorithm combines the strengths of bacterial foraging algorithm (BFA) and spiral dynamic algorithm (SDA) for a fast and accurate convergence to the optimum point. This paper demonstrates the efficiency of the HSDBC with fast convergence speed, better accuracy and stability compared to BFA optimisation.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:hybrid fuzzy, two wheels robot, spiral dynamic, bacteria chemotaxis.
Subjects:T Technology > TA Engineering (General). Civil engineering (General)
Divisions:Faculty of Electrical & Electronic Engineering
ID Code:4544
Deposited By: Mr. Ahmad Nor Kasruddin Nasir
Deposited On:06 Jan 2014 14:17
Last Modified:13 Sep 2017 15:38

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