A review of the literature on fuzzy-logic approaches for collision-free path planning of manipulator robots

Hentout, Abdelfetah; Maoudj, Abderraouf; Mustapha, Aouache

doi:10.1007/s10462-022-10257-7

Cited by 39 publications

(22 citation statements)

References 355 publications

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“…This topic adopts the closed analysis method, and takes the KR10 R1100 robot, the main body of the TPR, as the target of the analysis of the kinematic mechanism. According to the judgment standard of the reverse solution of the articulated robot proposed by Pieper [14][15][16], the 4th, 5th, and 6th axes of the TPR are preset to intersect at one point, which leads to a closed numerical solution of TPR.…”

Section: Reverse Kinematic Solutions For Tpr Positionmentioning

confidence: 99%

Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Wang¹,

Zhang²,

Meng³

2023

J. vibroeng.

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Tree Planting Machine (TPM) is subject to a Tree-Planting Robot (TPR) with desired tracking trajectory planning. In this topic, taking the TPR proposed as the analysis object, the positive and inverse solutions of the kinematics are analyzed to explore the optimal trajectory planning. An improved position/posture algorithm, based on the analytical solution of the inverse kinematics of the TPR, is proposed. The trajectory planning strategy for TPR in Cartesian coordinate system and Joint coordinate system is discussed, which is used for parabolic transition linear programming optimization, and the simulation model of TPR trajectory planning is constructed by MATLAB module. Numerical simulation results indicate that the deviation of the TPR trajectory from the expected value is significantly reduced. The proposed improved position/posture algorithm is verified by kinematic analysis, and the TPR followability and trajectory planning accuracy are greatly improved. Toward this goal, a variable trajectory planning can be effectively, and stability adjusted by pre-designed TPM system in the field of ecological tree planting.

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Section: Reverse Kinematic Solutions For Tpr Positionmentioning

confidence: 99%

Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Wang¹,

Zhang²,

Meng³

2023

J. vibroeng.

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“…Decision-making and planning constitute a central problem in robotics, encompassing various tasks from high-level task planning [21,25] to path planning [18,22] and to object manipulation/grasping and motion planning [5,38,39]. Given a particular robot morphology and degrees of freedom, the planning algorithm seek to derive a path to an expected target configuration or location of the robot.…”

Section: Decision-making In Roboticsmentioning

confidence: 99%

Who's in Charge? Roles and Responsibilities of Decision-Making Components in Conversational Robots

Lison¹,

Kennington²

2023

Preprint

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Software architectures for conversational robots typically consist of multiple modules, each designed for a particular processing task or functionality. Some of these modules are developed for the purpose of making decisions about the next action that the robot ought to perform in the current context. Those actions may relate to physical movements, such as driving forward or grasping an object, but may also correspond to communicative acts, such as asking a question to the human user. In this position paper, we reflect on the organization of those decision modules in human-robot interaction platforms. We discuss the relative benefits and limitations of modular vs. end-to-end architectures, and argue that, despite the increasing popularity of end-to-end approaches, modular architectures remain preferable when developing conversational robots designed to execute complex tasks in collaboration with human users. We also show that most practical HRI architectures tend to be either robot-centric or dialogue-centric, depending on where developers wish to place the "command center" of their system. While those design choices may be justified in some application domains, they also limit the robot's ability to flexibly interleave physical movements and conversational behaviours. We contend that architectures placing "action managers" and "interaction managers" on an equal footing may provide the best path forward for future human-robot interaction systems.

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“…The dynamic nature of the environment enforces taking into account the pop-up obstacles as the robot moves through the nodes formed during the optimization phase. The emphasis is mainly on FL owing to its capacity to make decisions and emulate human reasoning in complex workspaces despite the lack of exact knowledge and correct model equations [11]. The goal is to create an FLC that can safely guide the mobile robot via various sub-goals without colliding with dynamic obstacles or being trapped.…”

Section: B Avoidance Of Dynamic Obstacles and Escaping Trapsmentioning

confidence: 99%

Efficient Fuzzy-logic Control of Indoor Mobile Robots Evolving in Static and Dynamic Workspaces

Hentout¹,

Maoudj

Kouider³

2023

Preprint

Self Cite

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This paper presents an efficient motion control approach for indoor mobile robots in both static and dynamic workspaces. The proposed system consists of two layers. In the Optimization Layer (Global planner), a Deterministic Constructive Algorithm (DCA) generates the best path for the mobile robot, represented as a set of nodes, to move from the initial position (Source) to the final position (Target) while avoiding the static obstacles. The Control layer (Local planner), which is the main focus of this article, consists of an Efficient Fuzzy-Logic Controller (EFLC), mimicking the human reasoning, to avoid the dynamic obstacles and drive safely the mobile robot along the generated path. The strength of the proposed EFLC approach is shown using V-REP software in dynamic workspaces.

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A review of the literature on fuzzy-logic approaches for collision-free path planning of manipulator robots

Cited by 39 publications

References 355 publications

Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Kinematic analysis and trajectory planning for a tree planting robot in forest environment

Who's in Charge? Roles and Responsibilities of Decision-Making Components in Conversational Robots

Efficient Fuzzy-logic Control of Indoor Mobile Robots Evolving in Static and Dynamic Workspaces

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