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

摘要

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.