Design of Adaptive Fuzzy Tracking Controller for Robot Navigation Using Particle Swarm Optimization
DOI:
https://doi.org/10.53555/nneee.v2i1.235Keywords:
PSO(Particle Swarm Optimization), fuzzy logic controller, NavigationAbstract
This paper proposes a methodology for mobile robot navigation using the concept of Fuzzy Tracking Controller. The objective is to Design adaptive fuzzy controller for x-direction and y-direction movement. Mostly it is used in Robot Localization, Obstacle avoidance, Mapping, Recognizing people and objects &Learn how to interact (e.g. grasp) with objects in Robot Navigation. It determines the safe path for the robot to transverse to its target location, while avoiding obstacles along the way. In this System it calculate the reference path and using Particle Swarm Optimization technique it will reduce Time required to reach the target. Fuzzy tracking controller will be used to direct the system to the destination which will help system to overcome the obstacles in the path and reach the accurate destination.
References
Kaushik Das Sharma, AmitavaChatterjee, AndAnjanRakshit, “A PARTICAL SWARM OPTIMIZATION Lyapunov Hybrid Stable Adaptive Fuzzy Tracking Control Approach For Vision-Based Robot Navigation”, IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 61, NO. 7, JULY 2012.
Abdullah Zawawi MOHAMED & Sang Heon LEE, “Autonomous Mobile Robot System Concept Based On PARTICAL SWARM OPTIMIZATION Path Planner and vSLAM", Hung Yao HSU Department of Advanced Manufacturing and Mechanical Engineering University of South Australia, South Australia, Australia.
RamazanHavangi, Mohammad Ali Nekoui& Mohammad Teshnehlab, “Adaptive Neuro-Fuzzy Extended Kalman Filtering for Robot
Localization”,Faculty of Electrical Engineering, K.N. Toosi University of Technology Tehran, IJCSI International Journal of Computer Science Issues, Vol. 7, Issue 2, No 2, March 2010.
Fernando Rios-Gutierrez, and Christopher Jeanniton,“Qualitative Evaluation of a PID Controller for Autonomous Mobile Robot Navigation Implemented in an FPGA Card Rocio Alba-Flores”, Dept. of Mechanical and Electrical EngineeringGeorgia Southern University, Statesboro, GA, USA 2011 Seventh International Conference on Natural Computation.
Edward Tunstel, Tanya Lippincott and Mo Jamshidi, “Introduction to Fuzzy Logic Control With Application to Mobile Robotics”, NASA Center for Autonomous Control Engineering, Department of Electrical and Computer EngineeringUniversity of New Mexico
“Decomposed Fuzzy Controller for Reactive Mobile Robot Navigation” International journal of soft computing and Engineering sept 2012.
N. N. Singh, “Vision based autonomous navigation of mobile robots”, Ph.D. dissertation, Jadavpur University, Kolkata, India, 2010.
C. C. Chou, F. L. Lian, and C. C. Wang, “Characterizing indoor environment for robot navigation using velocity space approach with region analysis and look-ahead verification,” IEEE Trans. Instrum. Meas., vol. 60, no. 2, pp. 442–451, Feb 2011.
A. R. Ashokaraj, P. M. G. Silson, A. Tsourdos, and B.A. White, “Robust sensor-based navigation for mobile robots,” IEEE Trans. Instrum. Meas., vol. 58, no. 3, pp. 551–556, Mar. 2010.
Jianguo, W., Yilong, Z., Linlin, X., Adaptive Genetic Algorithm Enhancements for Path Planning of Mobile Robots, Proceedings on International Conference on Measuring Technology and Mechatronics Automation 2010, pp. 416-419.
J V. Gupta, K. Khare, and R. Singh, “Efficient FPGA Design and Implementation of Digital PID Controllers in Simulink”, International Journal of Recent Trends in Engineering, 2(6), pp. 147- 150, Dec. 2009.
Hsu-Chih Huang, Department of Computer Science and Information Enginnering, Hungkuang and Ching-Chih, Tsai Department of Electrical Engineering, National Chung Hsing University, Taiwan “Global Path Planning for Autonomous Robot Navigation Using HybridMetaheuristic GAPSO Algorithm” SICE Annual Conference 2011.
H. C. Huang and C. C. Tsai, “Simultaneous tracking and stabilization of anomni-directional mobile robot in polar coordinates: a unified control approach,” Robotica, vol. 27, no. 3, pp. 447-458, May 2010.
William Low, R. Nagarajan, SazaliYaacob, “Simultaneous Localization and Map Building – A Guided Tour”, Internationa Conference on Man-Machine Systems (ICoMMS), 11-13 October 2009 Penang, Malaysia.
S. C. Yun, S. Parasuraman, and V. Ganapathy, “Dynamic path planning algorithm in mobile robot navigation,” Industrial Electronics and Applications (ISIEA), 2011 IEEE Symposium on, 2011.
Published
Issue
Section
License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
Terms & Condition
Submission -
Author can submit the manuscript through our online submission process or email us at the designated email id in contact details.
The other mode of submission not accepted than online and email.
Before submission please read the submission guidelines.
NN Publication accepts only article submitted in pdf/doc/docx/rtf file format. Another format except given file formats will no be considered .
Author will be responsible for the error mistakes in the submission files. The minor changes can be done without any cost after publication. But for major changes NN Publication may charges you the editing charges.
Publication (Online) -
The online publication is scheduled on last date of every month, but it can be delayed by 24 to 48 hours due to editorial process if huge number of articles comes to publish in single issue.
Automatic notificatation email will be sent to the all users on publication of an issue, so its author’s duty to check their email inbox or SPAM folder to get this notification.
After publication of article author can not withdraw their article.
If editor’s found any issue after publication of article then the NN Publication have the authority to remove the article from online website.
No refund will be provided after online publication of article.
Publication (Print) -
The print copy publication are sent as per the author’s request after 2 weeks of online publication of that issue.
NN Publication will ship the article by India Post and provide the consignment number on dispatch of print copy.
NN Publication follows all the guidelines of delivery provided by IndiaPost and hence not responsible for delay in delivery due to any kind of reasons.
Refund of hard copy will not be provided after dispatch or print of the journal.
NN Publication will be responsible for raise a complain if there is any issue occurs in delivery, but still will not be responsible for providing the refund.
NN Publication will be responsible to resend the print copy only and only if the print copy is lost or print copy is damaged in delivery / or there is delay more than 6 months.
According to India Post the delivery should be completed with in 1-3 weeks after dispatch of articles.
Privacy Policy-
NN Publicationl uses the email ids of authors and editors and readers for sending editorial or publication notification only, we do not reveal or sell the email ids to any other website or company.
