Vision Based Mobile Robot Control And Path Planning Algorithms In Obstacle Environments Using Type 2 Fuzzy Logic

Author : Mahmut Dirik,Oscar Castillo,Fatih Kocamaz
Publisher : Springer Nature
Page : 143 pages
File Size : 49,6 Mb
Release : 2021-03-01
Category : Technology & Engineering
ISBN : 9783030692476

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Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic by Mahmut Dirik,Oscar Castillo,Fatih Kocamaz Pdf

The book includes topics, such as: path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control. The theoretical concepts are illustrated with a developed control architecture with soft computing and artificial intelligence methods. The proposed vision-based motion control strategy involves three stages. The first stage consists of the overhead camera calibration and the configuration of the working environment. The second stage consists of a path planning strategy using several traditional path planning algorithms and proposed planning algorithm. The third stage consists of the path tracking process using previously developed Gauss and Decision Tree control approaches and the proposed Type-1 and Type-2 controllers. Two kinematic structures are utilized to acquire the input values of controllers. These are Triangle Shape-Based Controller Design, which was previously developed and Distance-Based Triangle Structure that is used for the first time in conducted experiments. Four different control algorithms, Type-1 fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and Gaussian Control have been used in overall system design. The developed system includes several modules that simplify characterizing the motion control of the robot and ensure that it maintains a safe distance without colliding with any obstacles on the way to the target. The topics of the book are extremely relevant in many areas of research, as well as in education in courses in computer science, electrical and mechanical engineering and in mathematics at the graduate and undergraduate levels.

Author : Jagdish Chand Bansal,Kedar Nath Das,Atulya Nagar,Kusum Deep,Akshay Kumar Ojha
Publisher : Springer
Page : 991 pages
File Size : 46,5 Mb
Release : 2018-10-30
Category : Technology & Engineering
ISBN : 9789811315954

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Soft Computing for Problem Solving by Jagdish Chand Bansal,Kedar Nath Das,Atulya Nagar,Kusum Deep,Akshay Kumar Ojha Pdf

This two-volume book presents outcomes of the 7th International Conference on Soft Computing for Problem Solving, SocProS 2017. This conference is a joint technical collaboration between the Soft Computing Research Society, Liverpool Hope University (UK), the Indian Institute of Technology Roorkee, the South Asian University New Delhi and the National Institute of Technology Silchar, and brings together researchers, engineers and practitioners to discuss thought-provoking developments and challenges in order to select potential future directions The book presents the latest advances and innovations in the interdisciplinary areas of soft computing, including original research papers in the areas including, but not limited to, algorithms (artificial immune systems, artificial neural networks, genetic algorithms, genetic programming, and particle swarm optimization) and applications (control systems, data mining and clustering, finance, weather forecasting, game theory, business and forecasting applications). It is a valuable resource for both young and experienced researchers dealing with complex and intricate real-world problems for which finding a solution by traditional methods is a difficult task.

Author : Oscar Castillo,Patricia Melin
Publisher : Springer Science & Business Media
Page : 252 pages
File Size : 42,5 Mb
Release : 2008-02-20
Category : Mathematics
ISBN : 9783540762836

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Type-2 Fuzzy Logic: Theory and Applications by Oscar Castillo,Patricia Melin Pdf

This book describes new methods for building intelligent systems using type-2 fuzzy logic and soft computing (SC) techniques. The authors extend the use of fuzzy logic to a higher order, which is called type-2 fuzzy logic. Combining type-2 fuzzy logic with traditional SC techniques, we can build powerful hybrid intelligent systems that can use the advantages that each technique offers. This book is intended to be a major reference tool and can be used as a textbook.

Author : Ying Tan,Yuhui Shi,Ben Niu
Publisher : Springer
Page : 462 pages
File Size : 47,5 Mb
Release : 2019-07-18
Category : Computers
ISBN : 9783030263690

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Advances in Swarm Intelligence by Ying Tan,Yuhui Shi,Ben Niu Pdf

The two-volume set of LNCS 11655 and 11656 constitutes the proceedings of the 10th International Conference on Advances in Swarm Intelligence, ICSI 2019, held in Chiang Mai, Thailand, in June 2019. The total of 82 papers presented in these volumes was carefully reviewed and selected from 179 submissions. The papers were organized in topical sections as follows: Part I: Novel methods and algorithms for optimization; particle swarm optimization; ant colony optimization; fireworks algorithms and brain storm optimization; swarm intelligence algorithms and improvements; genetic algorithm and differential evolution; swarm robotics. Part II: Multi-agent system; multi-objective optimization; neural networks; machine learning; identification and recognition; social computing and knowledge graph; service quality and energy management.

Author : Nick Barnes,Zhi-Quiang Liu
Publisher : Physica
Page : 240 pages
File Size : 55,6 Mb
Release : 2012-12-06
Category : Computers
ISBN : 9783790817805

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Knowledge-Based Vision-Guided Robots by Nick Barnes,Zhi-Quiang Liu Pdf

Many robotics researchers consider high-level vision algorithms (computational) too expensive for use in robot guidance. This book introduces the reader to an alternative approach to perception for autonomous, mobile robots. It explores how to apply methods of high-level computer vision and fuzzy logic to the guidance and control of the mobile robot. The book introduces a knowledge-based approach to vision modeling for robot guidance, where advantage is taken of constraints of the robot's physical structure, the tasks it performs, and the environments it works in. This facilitates high-level computer vision algorithms such as object recognition at a speed that is sufficient for real-time navigation. The texts presents algorithms that exploit these constraints at all levels of vision, from image processing to model construction and matching, as well as shape recovery. These algorithms are demonstrated in the navigation of a wheeled mobile robot.

Author : Amitava Chatterjee,Anjan Rakshit,N. Nirmal Singh
Publisher : Springer
Page : 226 pages
File Size : 48,7 Mb
Release : 2012-10-13
Category : Technology & Engineering
ISBN : 9783642339653

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Vision Based Autonomous Robot Navigation by Amitava Chatterjee,Anjan Rakshit,N. Nirmal Singh Pdf

This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.

Author : Anonim
Publisher : Unknown
Page : 778 pages
File Size : 45,6 Mb
Release : 2001
Category : Industrial electronics
ISBN : UIUC:30112050710604

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IEEE International Symposium on Industrial Electronics Proceedings by Anonim Pdf

Author : Anonim
Publisher : Unknown
Page : 836 pages
File Size : 41,7 Mb
Release : 1994
Category : Aeronautics
ISBN : UIUC:30112067190055

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Scientific and Technical Aerospace Reports by Anonim Pdf

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 46,9 Mb
Release : 1996
Category : Automatic control
ISBN : UOM:39015039842029

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Computer & Control Abstracts by Anonim Pdf

Author : Dimiter Driankov,Alessandro Saffiotti
Publisher : Physica
Page : 388 pages
File Size : 54,9 Mb
Release : 2013-03-09
Category : Technology & Engineering
ISBN : 9783790818352

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Fuzzy Logic Techniques for Autonomous Vehicle Navigation by Dimiter Driankov,Alessandro Saffiotti Pdf

In the past decade a critical mass of work that uses fuzzy logic for autonomous vehicle navigation has been reported. Unfortunately, reports of this work are scattered among conference, workshop, and journal publications that belong to different research communities (fuzzy logic, robotics, artificial intelligence, intelligent control) and it is therefore not easily accessible either to the new comer or to the specialist. As a result, researchers in this area may end up reinventing things while being unaware of important existing work. We believe that research and applications based on fuzzy logic in the field of autonomous vehicle navigation have now reached a sufficient level of maturity, and that it should be suitably reported to the largest possible group of interested practitioners, researches, and students. On these grounds, we have endeavored to collect some of the most representative pieces of work in one volume to be used as a reference. Our aim was to provide a volume which is more than "yet another random collection of papers," and gives the reader some added value with respect to the individual papers. In order to achieve this goal we have aimed at: • Selecting contributions which are representative of a wide range of prob lems and solutions and which have been validated on real robots; and • Setting the individual contributions in a clear framework, that identifies the main problems of autonomous robotics for which solutions based on fuzzy logic have been proposed.

Author : Eugene Kagan,Nir Shvalb,Irad Ben-Gal
Publisher : John Wiley & Sons
Page : 344 pages
File Size : 51,5 Mb
Release : 2019-09-02
Category : Technology & Engineering
ISBN : 9781119213178

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Autonomous Mobile Robots and Multi-Robot Systems by Eugene Kagan,Nir Shvalb,Irad Ben-Gal Pdf

Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

Author : Alexander Zelinsky
Publisher : Springer Science & Business Media
Page : 558 pages
File Size : 51,7 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781447112730

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Field and Service Robotics by Alexander Zelinsky Pdf

Joe Engelberger, the pioneer of the robotics industry, wrote in his 1989 book Robotics in Service that the inspiration to write his book came as a reaction to an industry-sponsored forecast study of robot applications, which predicted that in 1995 applications of robotics outside factories - the traditional domain of industrial robots - would amount to less than 1% of total sales. Engelberger believed that this forecast was very wrong, and instead predicted that the non-industrial class of robot applications would become the largest class. Engelbergers prediction has yet to come to pass. However, he did correctly foresee the growth in non-traditional applications of robots. Robots are now beginning to march from the factories and into field and service applications. This book presents a selection of papers from the first major international conference dedicated to field and service applications of robotics. This selection includes papers from the leading research laboratories in the world together with papers from companies that are building and selling new and innovative robotic technology. It describes interesting aspects of robots in the field ranging from mining, agriculture, construction, cargo handling, subsea operations, removal of landmines, to terrestrial exploration. It also covers a diverse range of service applications, such as cleaning, propagating plants and aiding the elderly and handicapped, and gives considerable attention to the technology required to realise robust, reliable and safe robots.

Author : Kikuo Fujimura
Publisher : Springer Science & Business Media
Page : 190 pages
File Size : 46,5 Mb
Release : 2012-12-06
Category : Computers
ISBN : 9784431681656

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Motion Planning in Dynamic Environments by Kikuo Fujimura Pdf

Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.

Author : Xj Jing
Publisher : BoD – Books on Demand
Page : 610 pages
File Size : 47,5 Mb
Release : 2008-06-01
Category : Technology & Engineering
ISBN : 9789537619015

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Motion Planning by Xj Jing Pdf

In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc. Different methods such as potential fields, reactive behaviours, neural-fuzzy based methods, motion control methods and so on are studied. Through this book and its references, the reader will definitely be able to get a thorough overview on the current research results for this specific topic in robotics. The book is intended for the readers who are interested and active in the field of robotics and especially for those who want to study and develop their own methods in motion/path planning or control for an intelligent robotic system.

Author : Vladimir J. Lumelsky
Publisher : John Wiley & Sons
Page : 456 pages
File Size : 49,6 Mb
Release : 2005-11-28
Category : Technology & Engineering
ISBN : 9780471738190

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Sensing, Intelligence, Motion by Vladimir J. Lumelsky Pdf

A leap forward in the field of robotics Until now, most of the advances in robotics have taken place instructured environments. Scientists and engineers have designedhighly sophisticated robots, but most are still only able tooperate and move in predetermined, planned environments designedspecifically for the robots and typically at very high cost. Thisnew book takes robotics to the next level by setting forth thetheory and techniques needed to achieve robotic motion inunstructured environments. The ability to move and operate in anarbitrary, unplanned environment will lead to automating a widerange of new robotic tasks, such as patient care, toxic sitecleanup, and planetary exploration. The approach that opens the door for robots to handle unstructuredtasks is known as Sensing-Intelligence-Motion (SIM), which drawsfrom research in topology, computational complexity, controltheory, and sensing hardware. Using SIM as an underlyingfoundation, the author's carefully structured presentation isdesigned to: * Formulate the challenges of sensor-based motion planning and thenbuild a theoretical foundation for sensor-based motion planningstrategies * Investigate promising algorithmic strategies for mobile robotsand robot arm manipulators, in both cases addressing motionplanning for the whole robot body * Compare robot performance to human performance in sensor-basedmotion planning to gain better insight into the challenges of SIMand help build synergistic human-robot teams for tele-operationtasks. It is both exciting and encouraging to discover that robotperformance decisively exceeds human performance in certain tasksrequiring spatial reasoning, even when compared to trainedoperators * Review sensing hardware that is necessary to realize the SIMparadigm Some 200 illustrations, graphic sketches, and photos are includedto clarify key issues, develop and validate motion planningapproaches, and demonstrate full systems in operation. As the first book fully devoted to robot motion planning inunstructured environments, Sensing, Intelligence, Motion is amust-read for engineers, scientists, and researchers involved inrobotics. It will help them migrate robots from highly specializedapplications in factories to widespread use in society whereautonomous robot motion is needed.