Hybrid Global Positioning System-Adaptive Neuro-Fuzzy Inference System based autonomous mobile robot navigation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F20%3A10245516" target="_blank" >RIV/61989100:27240/20:10245516 - isvavai.cz</a>

Výsledek na webu

<a href="https://reader.elsevier.com/reader/sd/pii/S0921889020305091?token=60BEBFDA9C00E0746BF0C867A87E15B745479D6266B12CB6997D0239009730F9F0AE8D9F6EE8280920188DA836BF1E40" target="_blank" >https://reader.elsevier.com/reader/sd/pii/S0921889020305091?token=60BEBFDA9C00E0746BF0C867A87E15B745479D6266B12CB6997D0239009730F9F0AE8D9F6EE8280920188DA836BF1E40</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.robot.2020.103669" target="_blank" >10.1016/j.robot.2020.103669</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Hybrid Global Positioning System-Adaptive Neuro-Fuzzy Inference System based autonomous mobile robot navigation

Popis výsledku v původním jazyce

The collision-free navigation of a mobile robot in clutter environments is challenging. Global Positioning System (GPS) and adaptive neuro-fuzzy inference system (ANFIS) are well-known techniques widely used for navigation and control, respectively. This paper proposes a hybrid GPS-ANFIS based method for collision-free navigation of autonomous mobile robots. The GPS-based controller keeps the navigation direction of the robot toward the static or dynamic target. It uses the coordinates received from the two GPS modules on the edges of the longitudinal axis of the robot all together with the coordinates of the target to divert it from the current path making a certain angle towards the target. The performance of the proposed method in navigating a mobile robot in clutter environments and its effectiveness in comparison with the other collision-free navigation methods has been evaluated through simulations. The evaluation criteria are on the basis of the obstacle avoidance behavior and the length of the discovered collision-free path by the robot. The results have shown that our hybrid GPS-ANFIS method navigates the robot toward the goal via a shorter path while avoiding the obstacles.

Název v anglickém jazyce

Hybrid Global Positioning System-Adaptive Neuro-Fuzzy Inference System based autonomous mobile robot navigation

Popis výsledku anglicky

The collision-free navigation of a mobile robot in clutter environments is challenging. Global Positioning System (GPS) and adaptive neuro-fuzzy inference system (ANFIS) are well-known techniques widely used for navigation and control, respectively. This paper proposes a hybrid GPS-ANFIS based method for collision-free navigation of autonomous mobile robots. The GPS-based controller keeps the navigation direction of the robot toward the static or dynamic target. It uses the coordinates received from the two GPS modules on the edges of the longitudinal axis of the robot all together with the coordinates of the target to divert it from the current path making a certain angle towards the target. The performance of the proposed method in navigating a mobile robot in clutter environments and its effectiveness in comparison with the other collision-free navigation methods has been evaluated through simulations. The evaluation criteria are on the basis of the obstacle avoidance behavior and the length of the discovered collision-free path by the robot. The results have shown that our hybrid GPS-ANFIS method navigates the robot toward the goal via a shorter path while avoiding the obstacles.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10200 - Computer and information sciences

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

ROBOTICS AND AUTONOMOUS SYSTEMS

ISSN

0921-8890

e-ISSN

—

Svazek periodika

134

Číslo periodika v rámci svazku

December

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

8

Strana od-do

1-8

Kód UT WoS článku

000586017500015

EID výsledku v databázi Scopus

2-s2.0-85092717661