Paper Info
Title
A novel approach to integrate artificial potential field and fuzzy logic into a common framework for robots autonomous navigation.
Abstract
Artificial potential field and fuzzy logic are efficient approaches for mobile robots autonomous navigation. However, both have advantages and drawbacks. Their integration into a common control scheme can significantly improve the performances of the resulting hybrid controller. In this article, we propose a novel hybrid approach in order to better exploit their advantages. The present work contributes in three aspects: first, the proposed control scheme integrates interval type-2 fuzzy logic concepts with artificial potential field concepts into a common framework in order to better exploit their advantages. Second, the proposed control scheme is a simple and realizable design for real-time implementation because only 15 fuzzy rules are sufficient to control the mobile robot. Third, the proposed control scheme is a synthesized design which utilizes both heuristic knowledge and the sampled input-output data pairs. An implementation in real-time on an omnidirectional mobile robot validates the effectiveness of the proposed control scheme.
Year
DOI
Venue
2014
10.1177/0959651814548300
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
Keywords
Field
DocType
Artificial intelligence applications,fuzzy logic control,robot navigation,obstacle detection,avoidance,adaptive control systems
Fuzzy electronics,Neuro-fuzzy,Control theory,Fuzzy logic,Control engineering,Artificial intelligence,Adaptive control,Engineering,Robot,Mobile robot,Applications of artificial intelligence
Journal
Volume
Issue
ISSN
228
SP10
0959-6518
Citations 
PageRank 
References 
2
0.38
19
Authors
4
Name
Order
Citations
PageRank
Achille Melingui163.16
Rochdi Merzouki211725.83
Jean Bosco Mbede3667.50
Taha Chettibi493.62