Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines

Goher, Khaled, Almeshal, Abdullah, Agouri, Saad , Nasir, Ahmed, Tokhi, Osman, Alenizi, Mohamed, Alzanki, Talal and Fadlallah, Sulaiman (2017) Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines. Robotics and Biomimetics . ISSN 2197-3768

Full content URL: http://doi.org/10.1186/s40638-017-0059-1

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Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
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Abstract

This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SDA). BFA provides a good exploration strategy due to the chemotaxis approach. However, it endures an oscillation problem near the end of the search process when using a large step size. Conversely; for a small step size, it affords better exploitation and accuracy with slower convergence. SDA provides better stability when approaching an optimum point and has faster convergence speed. This may cause the search agents to get trapped into local optima which results in low accurate solution. HSDBC exploits the chemotactic strategy of BFA and fitness accuracy and convergence speed of SDA so as to overcome the problems associated with both the SDA and BFA algorithms alone. The HSDBC thus developed is evaluated in optimizing the performance and energy consumption of two highly nonlinear platforms, namely single and double inverted pendulum-like vehicles with an extended rod. Comparative results with BFA and SDA show that the proposed algorithm is able to result in better performance of the highly nonlinear systems.

Additional Information:This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Keywords:Spiral dynamics, Bacteria chemotaxis, Two-wheeled inverted pendulum with new configuration, PD-like fuzzy logic control, Hybrid fuzzy logic control
Subjects:H Engineering > H671 Robotics
H Engineering > H100 General Engineering
Divisions:College of Science > School of Engineering
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ID Code:33057
Deposited On:30 Aug 2018 13:29

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