Preface	6
	Contents	8
	1 Introduction	10
	References	13
	2 Theory and Background	16
	2.1 Fuzzy Inference System	16
	2.1.1 Type-1 Fuzzy Logic Systems	16
	2.1.2 Interval Type-2 Fuzzy Logic Systems	17
	2.2 Fuzzy Controllers	18
	References	19
	3 Problem Statements	21
	3.1 Water Tank Controller	21
	3.1.1 Model Equations of the Water Tank	21
	3.1.2 Design of the Fuzzy Controller	22
	3.2 Autonomous Mobile Robot Controller	24
	3.2.1 General Description of Problem	24
	3.2.2 Fuzzy Logic Control Design	26
	References	28
	4 Bee Colony Optimization Algorithm	30
	4.1 Proposed Method	35
	References	38
	5 Simulation Results for the Proposed Methods	40
	5.1 Simulation Results for the Water Tank Controller	41
	5.1.1 Results for the Original Bee Colony Optimization Algorithm	41
	5.1.2 Results for the Fuzzy Bee Colony Optimization Algorithm for the Water Tank Controller	41
	5.2 Results for the Original BCO for an Autonomous Mobile Robot	47
	5.2.1 Results for the Fuzzy BCO for an Autonomous Mobile Robot	55
	6 Statistical Analysis and Comparison of Results	62
	7 Conclusions	64
	Appendix	66
	Bibliograpy	76
	Index	77