An intelligent approach for autonomous mobile robots path planning based on adaptive neuro-fuzzy inference system

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F22%3A10247489" target="_blank" >RIV/61989100:27240/22:10247489 - isvavai.cz</a>

Výsledek na webu

<a href="https://reader.elsevier.com/reader/sd/pii/S2090447921002276?token=35DD72166025EB9DB4CF179D02F9ACA43877AD0AFC609D9649C0899CA2A6E837D57351394E0E2C071786B11121E36CAB&originRegion=eu-west-1&originCreation=20220316085739" target="_blank" >https://reader.elsevier.com/reader/sd/pii/S2090447921002276?token=35DD72166025EB9DB4CF179D02F9ACA43877AD0AFC609D9649C0899CA2A6E837D57351394E0E2C071786B11121E36CAB&originRegion=eu-west-1&originCreation=20220316085739</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.asej.2021.05.005" target="_blank" >10.1016/j.asej.2021.05.005</a>

Jazyk výsledku

angličtina

Název v původním jazyce

An intelligent approach for autonomous mobile robots path planning based on adaptive neuro-fuzzy inference system

Popis výsledku v původním jazyce

This paper proposes an efficient path planning technique for the autonomous collision-free navigation of wheeled mobile robots with simple hardware based on an adaptive neuro-fuzzy inference system (ANFIS). The distance between the robot and obstacles is measured using three ultrasonic sensors that are installed on the left, front, and right of the robot. These distances from the sensors form the inputs to the ANFIS-utility function block that calculates an obstacle avoidance steering angle for the robot. The obstacle avoidance behavior of the robot is modeled under six scenarios of facing an obstacle. The instantaneous position of the robot and the target are available from Global Positioning System (GPS) modules. A simulation mobile robot in V-REP has been integrated into the ANFIS controller coded in MATLAB. The simulation results show that the proposed ANFIS-utility function-based path planning technique surpasses some of the related algorithms in terms of finding near-optimal paths. (C) 2021 THE AUTHORS

Název v anglickém jazyce

An intelligent approach for autonomous mobile robots path planning based on adaptive neuro-fuzzy inference system

Popis výsledku anglicky

This paper proposes an efficient path planning technique for the autonomous collision-free navigation of wheeled mobile robots with simple hardware based on an adaptive neuro-fuzzy inference system (ANFIS). The distance between the robot and obstacles is measured using three ultrasonic sensors that are installed on the left, front, and right of the robot. These distances from the sensors form the inputs to the ANFIS-utility function block that calculates an obstacle avoidance steering angle for the robot. The obstacle avoidance behavior of the robot is modeled under six scenarios of facing an obstacle. The instantaneous position of the robot and the target are available from Global Positioning System (GPS) modules. A simulation mobile robot in V-REP has been integrated into the ANFIS controller coded in MATLAB. The simulation results show that the proposed ANFIS-utility function-based path planning technique surpasses some of the related algorithms in terms of finding near-optimal paths. (C) 2021 THE AUTHORS

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název periodika

Ain Shams Engineering Journal

ISSN

2090-4479

e-ISSN

2090-4495

Svazek periodika

13

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

11

Strana od-do

nestrankovano

Kód UT WoS článku

000751100600009

EID výsledku v databázi Scopus

2-s2.0-85106276541