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Type-2 Fuzzy PID Controller Design for Mobile Robot

Min Seok Jie, Won Hyuk Choi
2016 International Journal of Control and Automation  
This research has designed type-2 fuzzy self-tuning PID controller which can enhance autonomous driving function of mobile robot under fixed obstacle environment.  ...  Autonomous driving of mobile robot is important in various working environments. For its autonomous driving, mobile robot utilized ultrasonic sensor to detect obstacles and avoid them.  ...  Acknowledgments This paper is a revised and expanded version of a paper entitled "Advanced Science and Technology Letters" presented at "The 5th International Conference on Information Science and Industrial  ... 
doi:10.14257/ijca.2016.9.11.18 fatcat:uwxggvueqjeohl6xgdl63wdwba

Obstacle Avoidance of Mobile Robot using Fuzzy Logic and Hybrid Obstacle Avoidance Algorithm

R Singh, T K Bera
2019 IOP Conference Series: Materials Science and Engineering  
The self-driving car or mobile robot is the solution to avoid such mishaps.  ...  Both the obstacle avoidance algorithms are implemented on the bicycle vehicle model of the mobile robot.  ...  The block diagram of fuzzy based obstacle avoidance controller is depicted in Fig. 2 . A set of 23 rules are proposed to avoid the static and dynamic obstacles by the four-wheel mobile robot.  ... 
doi:10.1088/1757-899x/517/1/012009 fatcat:ox4yr6irpzhnnhjcpstn5nhxqu

Adaptive Path Planning For Mobile Robot Obstacle Avoidance

Rong-Jong Wai, Chia-Ming Liu
2011 Zenodo  
The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations of a differential-driving mobile robot under the possible occurrence of obstacle shapes.  ...  In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection.  ...  The proposed adaptive path-planning control scheme can be easily incorporated into other mobile robot navigation systems to provide an alternative for the objective of obstacle avoidance.  ... 
doi:10.5281/zenodo.1059845 fatcat:cdobdv4ws5cbfieiyqsyn4bjc4

Adaptive Neuro-Fuzzy control of Autonomous Ground Vehicle (AGV) based on Machine Vision

Hassan Farahat, Sameh Farid, Osama E. Mahmoud
2019 Engineering Research Journal  
Development of self-autonomous robot that has the capability to deal with dynamic obstacles as well as static obstacles and keep finding its optimal path represent big challenge to many of the researchers  ...  Fuzzy logic, Neural Network, and Adaptive Neuro-Fuzzy Inference System (ANFIS) were tested and evaluated as controlling algorithm for this navigation task.  ...  such as Fuzzy Logic, Neural Network and Adaptive neuro-fuzzy inference system (ANFIS) are exhibited.  ... 
doi:10.21608/erj.2019.122532 fatcat:m6hljq4dpnbc7l24wvdpbvb3q4

Controlling the Motion of an Autonomous Mobile Robot Using Various Techniques: a Review

Prases Mohanty, Dayal Parhi
2013 Journal of Advanced Mechanical Engineering  
Autonomous navigation of mobile robots in an uncertain and complex environment is a broad and complicated issue due to a variety of obstacles that mobile robots have to detect and represent in their maps  ...  In the visibility graph, the path of the mobile robot is very close to the obstacle and resulting minimum path distance solutions, whereas in the Voronoi Diagram path, the mobile robot stays away from  ...  W -Weight of the connection from neuron I in layer 'lay-1' to neuron in layer 'lay' In their review, discussed navigation control of mobile robots using adaptive neuro-fuzzy inference system (ANFIS) in  ... 
doi:10.7726/jame.2013.1003 fatcat:hefyv6vnuvautbwftnhfmvow5u

Adaptive and intelligent navigation of autonomous planetary rovers — A survey

Cuebong Wong, Erfu Yang, Xiu-Tian Yan, Dongbing Gu
2017 2017 NASA/ESA Conference on Adaptive Hardware and Systems (AHS)  
Abstract-The application of robotics and autonomous systems in space has increased dramatically.  ...  2017) Adaptive and intelligent navigation of autonomous planetary rovers -a survey. In: 2017 NASA/ESA Conference on Adaptive Hardware and Systems, AHS 2017. IEEE, Piscataway, N.J., pp. 237-244.  ...  Obstacle avoidance involves the detection and avoidance of objects/hazards that obstruct the robot as it performs a given task.  ... 
doi:10.1109/ahs.2017.8046384 dblp:conf/ahs/WongYYG17 fatcat:iwlth237anf7dhrbpy3seuul3q

Fuzzy behavior hierarchies for multi-robot control

Edward Tunstel, Marco A. A. de Oliveira, Sigal Berman
2002 International Journal of Intelligent Systems  
The approach is used to implement hierarchical behavior-based controllers for autonomous navigation of one or more mobile robots.  ...  This article presents an approach to hierarchical control design and synthesis for the case where the collection of subsystems is comprised of fuzzy logic controllers and fuzzy knowledge-based decision  ...  Executing on each robot during group motion, safe-wander modulates the DOAs of avoid-obstacle, avoid-kin, and wander-randomly, in response to distance measurements to the nearest obstacle and robot.  ... 
doi:10.1002/int.10032 fatcat:dsz4cd25prbmtodu7yhjntbehu

Reactive Obstacle–Avoidance Systems for Wheeled Mobile Robots Based on Artificial Intelligence

A. Medina-Santiago, Luis Alberto Morales-Rosales, Carlos Arturo Hernández-Gracidas, Ignacio Algredo-Badillo, Ana Dalia Pano-Azucena, Jorge Antonio Orozco Torres
2021 Applied Sciences  
ObstacleAvoidance robots have become an essential field of study in recent years. This paper analyzes two cases that extend reactive systems focused on obstacle detection and its avoidance.  ...  The analysis of both options offers perspectives to choose between reactive ObstacleAvoidance systems based on ultrasonic or Kinect sensors, models that infer optimal decisions applying fuzzy logic or  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app11146468 fatcat:rx6uwev265cubc37ufbbvloori

Intelligent learning and control of autonomous robotic agents operating in unstructured environments

Hani Hagras, Tarek Sobh
2002 Information Sciences  
Because environments and users of systems continuously change, robotic agents have to be adaptive.  ...  Intelligence helps because it gives systems the capacity to adapt more rapidly to environmental changes or to handle much more complex functions.  ...  Hagras et al [8, 9, 10, 11, 12] had produced a double hierarchical fuzzy genetic system for online learning and adaptation of mobile robots in outdoor and unstructured environments.  ... 
doi:10.1016/s0020-0255(02)00221-9 fatcat:ul5wno4oonhvphivc3257pkgqa

An Immunological Approach to Mobile Robot Navigation [chapter]

Guan-Chun Luh, Wei-Wen Liu
2008 Motion Planning  
Figure 23 . 23 Trajectories and associated state responses of mobile robot and obstacles Fig. 24 demonstrates the motion planning of a mobile robot tracking a moving goal while avoiding two moving obstacles  ...  In terms of affinities, the immune system self-regulates the production of antibodies and diverse antibodies.  ... 
doi:10.5772/6008 fatcat:wpy2m4xtxjfiho4n4d4ya5ahsy

Sensor-Based Recognition Fuzzy Mobile Robot Systems Designs

2015 Sensors and materials  
The practice mobile robot control problems are considered to demonstrate the efficiency of the fuzzy control system.  ...  An illustrated simulation shows that the mobile robot system with the evolutional learning scheme can acquire the appropriate fuzzy rules to overcome multiple obstacles and achieve desired goals in dynamic  ...  Acknowledgements This research was partly supported by the National Science Council of the Republic of China under contract Nos. NSC 99-2221-E-507-004 and 100-2221-E-507-002.  ... 
doi:10.18494/sam.2015.1112 fatcat:vwxltjjro5bibhddhj3unl4zvu

Wheeled Mobile Robot Path Planning and Path Tracking Controller Algorithms: A Review

Oluwaseun. O. Martins, Department of Mechatronics Engineering, Federal University Oye-Ekiti Ekiti State, Nigeria, Adefemi. A. Adekunle, Samuel. B. Adejuyigbe, Oluwole. H. Adeyemi, Michael. O. Arowolo
2020 Journal of Engineering Science and Technology Review  
The former evaluates and identifies an obstacle free path for a mobile robot to traverse within its environment and the later deals with the controller design for a mobile robot to track the reference  ...  The sustained integration of wheeled mobile robot to task that further require their operation within the human environment characterized with uncertainty makes a review of these solution approaches very  ...  This is an Open Access article distributed under the terms of the Creative Commons Attribution License _____________________________ References  ... 
doi:10.25103/jestr.133.17 fatcat:qvad4rqszbf5nm2oymv4i2sroa

Cooperative Avoidance Control-based Interval Fuzzy Kohonen Networks Algorithm in Simple Swarm Robots

Siti Nurmaini, Siti Zaiton, Ricy Firnando
2014 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
It allows a group of robots to move as a unique entity performing the following function such as obstacle avoidance at group level.The control strategyenhances the mobile robot's performance whereby their  ...  Interval Fuzzy-Kohonen Network (IFKN) algorithm is utilized in this strategy. By employing a small number of rules, the IFKN algorithms can be adapted toswarms reactive control.  ...  Our earnest gratitude also goes to all researchers in Robotic and Control Laboratory, Computer Engineering, Sriwijaya University who provided companionship and sharing of their knowledge.  ... 
doi:10.12928/telkomnika.v12i4.495 fatcat:gf6ieiklxjhovd62lj2jbfzvzi

Vision-Based Mobile Robot Controllers: A Scientific Review

Adnan Mohsin Abdulazeez, Fayez Saeed Faizi
2021 Turkish Journal of Computer and Mathematics Education  
Today, there are different types of self-controlled robots. Some of them had critical effects on our lives like industrial and medical robots.  ...  The world of mobile robot controllers is discussed in this paper, and the latest trends were reviewed.  ...  Multi- algorithms provide more system stability Extensive computations 43 Wheeled Mobile Robot (WMR) Adaptive Neuro- Fuzzy Interface System (ANFIS) Their controller has two- stage, first  ... 
doi:10.17762/turcomat.v12i6.2695 fatcat:hxdsdt2kl5hs3eswac4ckeuv6i

Recent developments in terrain identification, classification, parameter estimation for the navigation of autonomous robots

M. G. Harinarayanan Nampoothiri, B Vinayakumar, Youhan Sunny, Rahul Antony
2021 SN Applied Sciences  
The study focuses on various Deep Learning techniques and Fuzzy Logic Systems in detail. The work can be extended to develop new control schemes to improve multiple terrain navigation performance.  ...  The objective of our research is to familiarize the gaps and opportunities of the aforementioned areas to the researchers who are passionate to take up research in the field of autonomous robots.  ...  [93] used a Type-2 fuzzy system for optimum performance of mobile robot navigation by avoiding obstacles.  ... 
doi:10.1007/s42452-021-04453-3 fatcat:zftqt26h7fgsblkmwduo336u4y
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