DocumentCode :
3090507
Title :
Sensory-data extraction based real time mobile robot motion planning using fuzzy logic
Author :
Roy, Sandip ; Banerjee, Debashis ; Majumder, C.G. ; Konar, Amit ; Janarthanan, R.
Author_Institution :
ETCE Dept., Jadavpur Univ., Kolkata, India
fYear :
2012
fDate :
4-7 Dec. 2012
Firstpage :
468
Lastpage :
473
Abstract :
In this paper a real-time mobile robot motion planning system is proposed. This is done by extracting the sensory data of the IR sensors of the robot during offline training of the robot. The mobile agent is able to interact with an unknown environment using a reactive strategy determined by sensory data. After classifying the data into several classes we formulate the Gaussian membership function of each feature of the respective classes. The features here correspond to the sensory data of six IR sensors as well as the speed and alignment of the mobile agent with the predefined goal. After each iteration, the robot undergoes step movement to move to its immediate next sub-goal computing two control variables which are direction and speed. Thus it reaches its predefined goal. The precision of this work is proved by the fact that the robot´s final destination through step movement ultimately coincides with the predefined goal. Moreover the performance of our approach for multiple mobile agents is found to have outperformed when compared to the classical heuristic and evolutionary techniques-based path planning strategies. The entire work has been implemented on Khepera II mobile robot.
Keywords :
Gaussian distribution; fuzzy control; infrared detectors; iterative methods; mobile robots; path planning; pattern classification; Gaussian membership function; IR sensors; Khepera II mobile robot; control variables; data classification; fuzzy logic; mobile agent; reactive strategy; real-time mobile robot motion planning system; robot offline training; sensory-data extraction; step movement; subgoal computing; Robot sensing systems; Training; KNN classifier; Sensory feature extraction; defuzzification; membership distribution; relational matrix;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Hybrid Intelligent Systems (HIS), 2012 12th International Conference on
Conference_Location :
Pune
Print_ISBN :
978-1-4673-5114-0
Type :
conf
DOI :
10.1109/HIS.2012.6421379
Filename :
6421379
Link To Document :
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