TLBO-Based Adaptive Neurofuzzy Controller for Mobile Robot Navigation in a Strange Environment

Table 2

Comparison of performances of PSO-ANFIS, IWO-ANFIS, BBO-ANFIS, and TLBO-ANFIS models.

Optimization algorithms	Training data				Test data
	MSE	RMSE	Mean error	Std. dev.	MSE	RMSE	Mean error	Std. dev.
PSO	0.11254	0.33547	0.0044081	0.33622	0.097484	0.31222	0.00022889	0.31392
IWO	0.018774	0.13702	0.0088525	0.13705	0.014758	0.12148	−0.016566	0.121
BBO	0.0038922	0.062388	0.0061697	0.062225	0.0072857	0.085536	0.00007763	0.085819
TLBO	0.00062319	0.024964	−0.0011524	0.024995	0.00066108	0.025691	−0.0028541	0.025691