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WALL-FOLLOWING BEHAVIOR-BASED MOBILE ROBOT USING PARTICLE SWARM FUZZY CONTROLLER

Jurnal Ilmu Komputer dan Informasi (JIKI) · Vol. 9 No. 1 (2016) · pp. 9–16

DOI
10.21609/jiki.v9i1.367
ISSN
2502-9274, 2088-7051
Published
2016-02-15
Publisher
Faculty of Computer Science - Universitas Indonesia
Language
eng

Abstract

Behavior-based control architecture has been broadly recognized due to their compentence in mobile robot development. Fuzzy logic system characteristics are appropriate to address the behavior design problems. Nevertheless, there are problems encountered when setting fuzzy variables manually. Consequently, most of the efforts in the field, produce certain works for the study of fuzzy systems with added learning abilities. This paper presents the improvement of fuzzy behavior-based control architecture using Particle Swarm Optimization (PSO). A wall-following behaviors used on Particle Swarm Fuzzy Controller (PSFC) are developed using the modified PSO with two stages of the PSFC process. Several simulations have been accomplished to analyze the algorithm. The promising performance have proved that the proposed control architecture for mobile robot has better capability to accomplish useful task in real office-like environment.

Keywords

Collaboration network of the authors

2 authors · 1 co-authorship link · 1 across different organisations

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  • Mercu Buana University
  • University of Technology Malaysia
  • Different organisations
  • Same organisation
  • Affiliation unknown
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Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://jiki.cs.ui.ac.id/index.php/jiki/oai, first harvested 26 Okt 2026, last seen 26 Okt 2026.
Original metadata (oai_dc) 
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	<dc:title xml:lang="en-US">WALL-FOLLOWING BEHAVIOR-BASED MOBILE ROBOT USING PARTICLE SWARM FUZZY CONTROLLER</dc:title>
	<dc:creator>Adriansyah, Andi</dc:creator>
	<dc:creator>Amin, Shamsudin H. Mohd.</dc:creator>
	<dc:subject xml:lang="en-US">behavior-based robot</dc:subject>
	<dc:subject xml:lang="en-US">wall-following behavior</dc:subject>
	<dc:subject xml:lang="en-US">fuzzy logic</dc:subject>
	<dc:subject xml:lang="en-US">PSO</dc:subject>
	<dc:subject xml:lang="en-US">PSFC</dc:subject>
	<dc:description xml:lang="en-US">Behavior-based control architecture has been broadly recognized due to their compentence in mobile robot development. Fuzzy logic system characteristics are appropriate to address the behavior design problems. Nevertheless, there are problems encountered when setting fuzzy variables manually. Consequently, most of the efforts in the field, produce certain works for the study of fuzzy systems with added learning abilities. This paper presents the improvement of fuzzy behavior-based control architecture using Particle Swarm Optimization (PSO). A wall-following behaviors used on Particle Swarm Fuzzy Controller (PSFC) are developed using the modified PSO with two stages of the PSFC process. Several simulations have been accomplished to analyze the algorithm. The promising performance have proved that the proposed control architecture for mobile robot has better capability to accomplish useful task in real office-like environment.</dc:description>
	<dc:publisher xml:lang="en-US">Faculty of Computer Science  - Universitas Indonesia</dc:publisher>
	<dc:date>2016-02-15</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://jiki.cs.ui.ac.id/index.php/jiki/article/view/367</dc:identifier>
	<dc:identifier>10.21609/jiki.v9i1.367</dc:identifier>
	<dc:source xml:lang="en-US">Jurnal Ilmu Komputer dan Informasi; Vol. 9 No. 1 (2016): Jurnal Ilmu Komputer dan Informasi (Journal of Computer Science and Information); 9-16</dc:source>
	<dc:source>2502-9274</dc:source>
	<dc:source>2088-7051</dc:source>
	<dc:source>10.21609/jiki.v9i1</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://jiki.cs.ui.ac.id/index.php/jiki/article/view/367/238</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2016 Jurnal Ilmu Komputer dan Informasi</dc:rights>
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