Fuzzy Logic Controller Design for Leader-Follower Robot Navigation

Dewi, Tresna; Wijanarko, Yudi; Risma, Pola; Oktarina, Yurni

doi:10.1109/eecsi.2018.8752696

Cited by 3 publications

(3 citation statements)

References 16 publications

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“…To consider the following with the collision avoidance, Dewi et al in Dewi et al (2018) presented a fuzzy logic controller (FLC) design for leader-follower robots, which is improvement of FLC application in a single two differential-driven mobile robot. The relation between leader and follower robot is modeled linearly as a spring-damper system.…”

Section: Related Workmentioning

confidence: 99%

Robust-adaptive-behavior strategy for human-following robots in unknown environments based on fuzzy inference mechanism

Toan

Hoang²,

Jo³

2022

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Purpose To follow and maintain an appropriate distance to the selected target person (STP), the mobile robot is required to have capabilities: the human detection and tracking and an efficient following strategy with a smooth manner that does not appear threatening to the STP and surroundings. The efficient following strategy must integrate the STP position and the obstacle information to achieve smooth and safe human-following behaviors, especially in unknown environments where robot does not have understandings in advance. The purpose of this study is to propose a robust-adaptive-behavior strategy for mobile robots. Design/methodology/approach This paper presents a robust-adaptive-behavior strategy (RABS) based on the fuzzy inference mechanism to help the robot follow the STP effectively in various unknown environments with the real-time obstacle avoidance, both indoor and outdoor and on different robot platforms. In which, the traversability of robots’ unknown surrounding environments is analyzed by using the STP position and the obstacle information obtained from the two dimensional laser scan, whose purpose is to choose the highest-traversability-score direction (HTSD) and an adaptive-safe-following distance (ASFD). Then, the HTSD, the ASFD and the current velocity of the robot are considered as inputs of the fuzzy system to adjust its velocity smoothly. Findings The proposed RABS is verified by a set of experiments using a real big-heavy autonomous mobile robot (BH-AMR), with the dimension 0.8 × 1.2 (m), weight 150 (kg), full-load 500 (kg), aiding smart factories. The obtained results have shown that the proposed RABS equips the BH-AMR with the ability to follow the STP smoothly and safely even when the robot is moving at the maximum speed 1.5 (m/s). Research limitations/implications In this paper, the autonomous mobile robot considers all environments as unknown even when it is working in mapped environments. This limitation is presented clearly in the future works section. Practical implications This proposed method can be used to help the autonomous mobile robot support persons in factories, hospitals, restaurants, supermarkets or at the airports. Originality/value This paper presents a RABS, including three new features: a fuzzy-based solution to help human-following robots maintain an appropriate distance to the STP safely and smoothly with the maximum velocity 1.5 (m/s); the proposed fuzzy-based solution, an adaptive vector field histogram and a new approach for the STP tracking is combined to follow the STP and avoid the collision simultaneously in unknown indoor and outdoor environments; the proposed RABS is considered for BH-AMRs (with the dimension 0.8 × 1.2 (m), weight 150 (kg), full-load 500 (kg)) to serve real tasks in smart factories.

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Section: Related Workmentioning

confidence: 99%

Robust-adaptive-behavior strategy for human-following robots in unknown environments based on fuzzy inference mechanism

Toan

Hoang²,

Jo³

2022

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“…By considering equations (9), (10), (15) and (16), and by neglecting the same term ( ) 2 , it can be noticed that and are coupled, where the coupling terms are (2σL s ω sl T e) /3pφ s * and −( (1 + )/(1 + ) + ) respectively. The aforementioned two terms are considered to be disruption; therefore, they can be eliminated by using a method known as decoupling by compensation term which results in the following system of equations:…”

Section: Stator-flux-oriented Direct Torque Control Strategy (Sfo-dtc)mentioning

confidence: 99%

“…In recent years, the phenomenal development of digital electronics has demonstrated the merit of using fuzzy logic algorithms to control many complex systems. Nowadays, fuzzy logic controllers (FLCs) [5][6][7] have been widely used successfully in industrial control system applications, such as: Electrical engineering [8,9], Medical field [10], Renewable energy [11][12][13][14], Robotics [15][16][17]. These complex applications are nonlinear and do not require good knowledge of their exact mathematical models.…”

Section: Introductionmentioning

confidence: 99%

A New design of fuzzy logic controller optimized By PSO-SCSO applied To SFO-DTC induction motor drive

Taieb¹,

Ferdjouni²

2020

IJECE

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In this paper, a new strategy for the design of fuzzy logic controllers (FLC) is proposed. This strategy is based on the optimization, by the particle swarm optimization (PSO) Algorithm and by sine-cosine based swarm optimization (SCSO) Algorithm, of the input-output gains and the geometric forms of the triangular membership functions of the proposed FLC. This latter is obtained by the minimizing a cost function based on combining two criterions, the Integral Time Absolute Error (ITAE) and Integral Absolute Error (IAE). A comparison, between the conventional FLC and the proposed FLC is carried out. The PSO-FLC shows a remarkable improvement in the performances of the controlled induction motor.

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Fuzzy Logic-Based Approach for Location Identification and Routing in the Outdoor Environment

Singh

Sehra

et al. 2023

IEEE Access

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Fuzzy Logic Controller Design for Leader-Follower Robot Navigation

Cited by 3 publications

References 16 publications

Robust-adaptive-behavior strategy for human-following robots in unknown environments based on fuzzy inference mechanism

Robust-adaptive-behavior strategy for human-following robots in unknown environments based on fuzzy inference mechanism

A New design of fuzzy logic controller optimized By PSO-SCSO applied To SFO-DTC induction motor drive

Fuzzy Logic-Based Approach for Location Identification and Routing in the Outdoor Environment

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