Trajectory Optimization for an Autonomous Mobile Robot Using the Bat Algorithm

This work uses the metaheuristic Bat Algorithm, and the main reason for its use is its speed of convergence, giving us the advantage of solving problems of optimization in a short time in comparison with other metaheuristic. We apply the Bat Algorithm in optimizing the trajectory of a unicycle mobile robot, which is the model considered in this work based on two wheels mounted on the same axis and a front wheel and the algorithm is responsible for building the best Type-1 fuzzy system once selected the best applied to the mobile robot model with the objective of following an established path with the least margin of error.

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