A Study on the Optimum Design of Fuzzy Logic Control using Differential Evolution Algorithms for Omnidirectional Mobile Robot Navigation

A Study on the Optimum Design of Fuzzy Logic Control using Differential Evolution Algorithms for Omnidirectional Mobile Robot Navigation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article A Study on the Optimum Design of Fuzzy Logic Control using Differential Evolution Algorithms for Omnidirectional Mobile Robot Navigation Mohamed Abdelwahab, Victor Parque, Ahmed M. R. Fath El Bab, Ahmed Abouelsoud This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-1780996/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Goal-oriented mobile robot navigation is significant for exploration, transport, and telerobotics ubiquitously. Among the existing mobile robot configurations, the omnidirectional platforms offer enhanced maneuverability and flexibility in navigation. Also, Fuzzy Logic (FL) is favorable regarding intelligible control rules and robustness to uncertainties among the existing control schemes. However, there exists a gap in the control of omnidirectional robots using FL, especially tackling stagnation and local-minima in goal-oriented navigation. This study presents a methodological framework, first of its kind to the best of our knowledge, combining the benefits of a behavioral FL and Differential Evolution for stagnation-free and goal-oriented omnidirectional robot navigation. Whereas FL considers a behavioral modulation between goal-seeking and obstacle avoidance, relevant classes of Differential Evolution (DE), which comprise exploration, exploitation, and self-adaptation modalities, tackle FL membership functions' search space. Through rigorous computational experiments, we demonstrate that Rank-Based Differential Evolution (RBDE)'s exploitative features show favorable performance in learning and tackling stagnation in the context of a small number of function evaluations (up to 1000) and unknown/partially known environments, both of which are relevant for quick adaptation to dynamic environments. After explaining the reason for learning efficiency and navigation performance in training-testing scenarios, we discuss the potential of rank-based learning algorithms. Fuzzy Logic Omnidirectional Robots Differential Evolution Optimization Control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-1780996","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":115460452,"identity":"8c736642-7717-431e-8b0c-60b7ca405a65","order_by":0,"name":"Mohamed Abdelwahab","email":"","orcid":"","institution":"Egypt-Japan University of Science and Technology","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Mohamed","middleName":"","lastName":"Abdelwahab","suffix":""},{"id":115460453,"identity":"325305dc-1d4e-4d95-9f79-d7980ad547cc","order_by":1,"name":"Victor Parque","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA60lEQVRIiWNgGAWjYPACGyBmbICwDzAwGBChJY10LYeR2AcIqDVnP/vwNk/FeXl+6eYGZp6aOjm+4wcYigvwaLHsSTe25jlz23DmnINALccOG0ueSWAwnoFHi8GBNDZp3rbbjBtuJDYw57AdSNxwAKiFB5+W88+AWv6ds4do+VdXv+H8AwJaboBsaQAaDtKS28acYHCDgC2WM54xW845lpw8c0Ziw+G/fYcNZ9542IDXL+b8aYw33tTY2fZLpD98OONbnTzf+eRjxvhCDBRpEjDOAQjF2GaMRweqFhhgfoxPyygYBaNgFIw4AAA1xFANFX9mQwAAAABJRU5ErkJggg==","orcid":"","institution":"Waseda University","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Victor","middleName":"","lastName":"Parque","suffix":""},{"id":115460454,"identity":"c7c38272-7b73-4d85-8cc3-9c5f6626c3f2","order_by":2,"name":"Ahmed M. 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