Swarm Optimization of Fuzzy Systems for Mobile Robots with Remote Control

摘要

This paper is dedicated to the development and research of the advanced approach for optimization of fuzzy control systems (FCS) for mobile robots (MR) with remote control based on bioinspired swarm techniques. The proposed approach makes it possible to create effective intelligent control systems for MRs based on the principles of hierarchical multi-level control, remote IoT-based control, fuzzy logic control, and intelligent optimization of fuzzy control devices. The applied hybrid particle swarm optimization (PSO) techniques with elite strategy allow effectively optimizing various parameters of FCSs, finding the optimal solution to the problem, and, at the same time, have a higher convergence rate compared with the basic PSO algorithms. To evaluate the effectiveness of the obtained advanced approach based on hybrid swarm techniques, the optimization process of the FCS for the speed control of the multi-purpose caterpillar MR, which can move on inclined and vertical ferromagnetic surfaces, is carried out. The presented research results fully confirm the high efficiency of the proposed approach, as well as the expediency of its application for the optimization of fuzzy control systems for various remotely controlled mobile robots.