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

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)
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Mr. Ahmad Nor Kasruddin Nasir
Date Deposited: 06 Jan 2014 06:17
Last Modified: 19 Mar 2018 06:02
URI: http://umpir.ump.edu.my/id/eprint/4544
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