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Galactic swarm optimization (GSO) is a recently created metaheuristic which is inspired by the motion of galaxies and stars in the universe. This algorithm gives us the possibility of finding the global optimum with greater precision since it uses multiple exploration and exploitation cycles. In this paper we present a modification to galactic swarm optimization using type-1 (T1) and interval type-2 (IT2) fuzzy systems for the dynamic adjustment of the c3 and c4 parameters in the algorithm. In addition, the modification is used for the optimization of the fuzzy controller of an autonomous mobile robot. First, the galactic swarm optimization is tested for fuzzy controller optimization. Second, the GSO algorithm with the dynamic adjustment of parameters using T1 fuzzy systems is used for the optimization of the fuzzy controller of an autonomous mobile robot. Finally, the GSO algorithm with the dynamic adjustment of parameters using the IT2 fuzzy systems is applied to the optimization of the fuzzy controller. In the proposed approaches, perturbation (noise) was added to the plant in order to find out if our approach behaves well under perturbation to the autonomous mobile robot plant; additionally, we consider our ability to compare the results obtained with the approaches when no perturbation is considered.

Optimization of Fuzzy Controller Using Galactic Swarm Optimization with Type-2 Fuzzy Dynamic Parameter Adjustment