Martinez, Pascual, Oscar Castillo, Arnulfo Alanis, Mario Garcia, and Jose Soria. 2013. “Optimal Desigh of Membership Functions of a Fuzzy Logic Controller for an Autonomous Wheeled Mobile Robot Using Ant Colony Optimization”. Journal of Automation, Mobile Robotics and Intelligent Systems 4 (1): 43-48. https://jamris.d.tomp.pl/index.php/JAMRIS/article/view/103.