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Nature-Inspired Optimization Algorithms for Path Planning and Fuzzy Tracking Control of Mobile Robots

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Applied Optimization and Swarm Intelligence

Part of the book series: Springer Tracts in Nature-Inspired Computing ((STNIC))

Abstract

This paper proposes two applications of nature-inspired optimization algorithms (NIOAs) to solve a path planning problem and the optimal tuning of Proportional-Integral (PI)-fuzzy controllers as tracking controllers for nonholonomic wheeled mobile robots in static environments. Two optimization problems are solved by NIOAs and included first in an off-line path planning approach that generates the reference trajectory and next a cost-effective PI-fuzzy tracking controller tuning approach. The NIOAs applied to solve both optimization problems are Particle Swarm Optimization, Gravitational Search Algorithm, Charged System Search Algorithm, Grey Wolf Optimizer and Whale Optimization Algorithm.

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Acknowledgements

This work was supported in part by the grants from the UEFISCDI of the Ministry of Research and Innovation, Romania, project numbers PN-III-P4-ID-PCE-2020-0269, PN-III-P1-1.1-PD-2019-0637, PN-III-P1-1.1-PD-2016-0331, PN-III-P1-1.1-TE-2019-1117, PN-III-P2-2.1-PTE-2019-0694, within PNCDI III, and by the NSERC of Canada.

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Authors and Affiliations

  1. Department of Automation and Applied Informatics, Politehnica University of Timisoara, Bd. V. Parvan 2, RO-300223, Timisoara, Romania

    Radu-Emil Precup, Emil-Ioan Voisan, Radu-Codrut David, Elena-Lorena Hedrea, Raul-Cristian Roman & Alexandra-Iulia Szedlak-Stinean

  2. School of Electrical Engineering and Computer Science, University of Ottawa, 800 King Edward, Ottawa, Ontario, K1N 6N5, Canada

    Emil M. Petriu

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  1. Radu-Emil Precup
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  2. Emil-Ioan Voisan
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  3. Radu-Codrut David
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Correspondence to Radu-Emil Precup .

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  1. Tecnalia Research and Innovation, BRTA (Basque Research and Technology Alliance), Derio, Spain

    Eneko Osaba

  2. Department of Design Engineering and Mathematics, School of Science and Technology, Middlesex University, London, UK

    Xin-She Yang

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Precup, RE. et al. (2021). Nature-Inspired Optimization Algorithms for Path Planning and Fuzzy Tracking Control of Mobile Robots. In: Osaba, E., Yang, XS. (eds) Applied Optimization and Swarm Intelligence. Springer Tracts in Nature-Inspired Computing. Springer, Singapore. https://doi.org/10.1007/978-981-16-0662-5_7

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