Mobile robot navigation using PSO-optimized fuzzy artificial potential field with fuzzy control

Abdalla, Turki Y.; Abed, Ali A.; Ahmed, Alaa A.

doi:10.3233/ifs-162205

Cited by 63 publications

(25 citation statements)

References 9 publications

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“…The fuzzy system is used here for estimating the unknown function ( , ) f x t . Fuzzy system is widely used as controller or estimator in many applications [22][23][24][25][26][27] and it is used here together with the Sliding Mode controller as an estimator for the unknown parameters.…”

Section: Proposed Control Scheme Designmentioning

confidence: 99%

Fuzzy Sliding Mode Control Scheme for Vehicle Active Suspension System Optimized by ABC Algorithm

Abdulzahra¹,

Abdalla²

2019

IJISA

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This paper suggests a proposed control scheme of fuzzy sliding mode and PID controller tuned with Artificial bee colony (ABC) algorithm to control vehicle suspension system. Suspension systems are utilized to provide vehicles safety and improve comfortable driving. The effects of the road roughness transmitted by the tires to the vehicle body can be reduced by using suspension systems. Fuzzy system is used for estimating the unknown parameters and uncertainty in the suspension system components (spring, damper and actuator). This study combines sliding mode with fuzzy strategy to design a robust control method. The ABC technique is used to optimize the controller parameters. The suggested control scheme endeavors to limit the vibration of the vehicle body by creating a suitable force for the suspension systems when passing on disturbance. Passive and active suspension systems are compared to test efficiency and ability of the proposed control scheme to enhance the safety and comfortable driving for different road profiles.

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Section: Proposed Control Scheme Designmentioning

confidence: 99%

Fuzzy Sliding Mode Control Scheme for Vehicle Active Suspension System Optimized by ABC Algorithm

Abdulzahra¹,

Abdalla²

2019

IJISA

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“…Fuzzy logic controllers have been used in many applications . In the control systems, fuzzy logic is considered in the control of linear, nonlinear and complex nonlinear plants such as robotics power plants and induction motors [14,15,16,17 ]. Basics of a fuzzy model are explained in [18]:…”

Section: Fuzzy Controllermentioning

confidence: 99%

Fuzzy Fine tuning of an Optimized PID Control Scheme for Mobile Robot Trajectory Tracking

Turki¹

2018

IJCA

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This paper present an efficient robust design method of PID control scheme based on using fuzzy logic and particles swarm optimization (PSO) method for trajectory tracking of mobile robot. Two PID controllers are used. Parameters of PID controllers are optimized offline using PSO and fuzzy controller is used for tuning the parameters online . The two optimized PID controllers are used for speed control and azimuth control. The online fuzzy tuning in the designed control scheme work well when there are variations in the plant parameters and changes in operating conditions.

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“…The most common search algorithm can be divided into a random search algorithm and a deterministic search algorithm. On the one hand, deterministic search algorithms are adopted to solve UAV route planning, such as A-Star algorithm [20]- [22],D-Star algorithm [23]- [25], artificial potential field algorithm [26], [27],Dijkstra algorithm [28], [29], dynamic programming algorithm [30]- [32]. However, the A-Star algorithm, Dijkstra algorithm, and dynamic programming algorithm can only be applied for route planning in a small-scale static environment.…”

Section: Introductionmentioning

confidence: 99%

A Novel Real-Time Penetration Path Planning Algorithm for Stealth UAV in 3D Complex Dynamic Environment

Zhang

Dai

et al. 2020

IEEE Access

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In recent years, stealth aircraft penetration path planning has been a significant research subject in the field of low altitude combat. However, previous works have mainly concentrated on the path planning for stealth unmanned aerial vehicle(UAV) in 2D static environment. In contrast, this paper addresses a novel real-time path planning algorithm for stealth UAV to realize the rapid penetration, which aims to devise a route penetration strategy based on the improved A-Star algorithm to address the problems of replanning for stealth UAV in 3D complex dynamic environment. The proposed method introduces the kinematic model of stealth UAV and detection performance of netted radar in the process of low altitude penetration. Additionally, POP-UP threats are adopted into three different threat scenarios, which is closer to the real combat environment. Moreover, further combined with the prediction technique and route planning algorithm, the multi-step search strategy is developed for stealth UAV to deal with POP-UP threats and complete the replanning of the route in different scenarios. Furthermore, the attitude angle information is integrated into the improved A-Star algorithm, which reflects the characteristics of the dynamic radar cross section(RCS) and conforms to the actual flight requirements for the stealth UAV. Finally, the improved A-Star algorithm, the sparse A-Star Search(SAS), and the dynamic A-Star algorithm(D-Star) are respectively adopted to address the problem of penetration route planning for stealth UAV in three different threat scenarios. Numerical simulations are performed to illustrate that the proposed approach can achieve rapid penetration route planning for stealth UAV in a dynamic threat scenario, and verify the validity of the improved A-Star algorithm which is compared to the other two algorithms. INDEX TERMS Stealth unmanned aerial vehicle, dynamic radar cross-section, netted radar, real-time path planning, A-Star algorithm.

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Mobile robot navigation using PSO-optimized fuzzy artificial potential field with fuzzy control

Cited by 63 publications

References 9 publications

Fuzzy Sliding Mode Control Scheme for Vehicle Active Suspension System Optimized by ABC Algorithm

Fuzzy Sliding Mode Control Scheme for Vehicle Active Suspension System Optimized by ABC Algorithm

Fuzzy Fine tuning of an Optimized PID Control Scheme for Mobile Robot Trajectory Tracking

A Novel Real-Time Penetration Path Planning Algorithm for Stealth UAV in 3D Complex Dynamic Environment

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