Motion planning and control of nonholonomic mobile robot using flatness and fuzzy logic concepts

Khesrani, S.; Hassam, A.; Boutalbi, Oussama; Boubezoula, Mabrouk

doi:10.1007/s40435-020-00754-4

Cited by 5 publications

(2 citation statements)

References 21 publications

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“…Although FLC is a robust controller in solving a tedious and difficult problem but it is very slow in response when used for large-scale problems [3], [4]. FLC is more efficient than all soft computing method since it can tolerantly noise and error of reading from the sensory system, also it can reflect the expertise of the human behavior [5], [6]. Two approaches are used to solve navigation problem in fuzzy logic, behavior based approach [7], [8] and classical fuzzy rule base approach [9].…”

Section: Introductionmentioning

confidence: 99%

Optimization of fuzzy rules using neural network to control mobile robot in non-structured environment

Abu-Baker

Ghadi

2023

Bulletin EEI

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It is still a challenge for all authors to control an autonomous mobile robot in an unstructured environment. The purpose of this paper is to propose a new control method for mobile robots in unstructured environments using neuro fuzzy technique. The proposed algorithm reduces the processing time of the fuzzy logic controller (FLC) inference engine. The neural network (NN) will therefore select the optimum rule(s) directly from the inference engine. This means that all of the rules of the inference engine do not need to be processed. As a result, the inference engine process speed will decrease, and the fuzzy logic response will increase. An actual mobile robot with three distance sensors and one virtual orientation angle is used to test the proposed algorithm. Based on the results, the mobile robot is capable of avoiding all obstacles and reaching the target point accurately.

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Section: Introductionmentioning

confidence: 99%

Optimization of fuzzy rules using neural network to control mobile robot in non-structured environment

Abu-Baker

Ghadi

2023

Bulletin EEI

View full text Add to dashboard Cite

show abstract

“…The majority of papers investigating omnivehicles can be divided into two vast groups: those concerning the assembly of real prototypes and enhancement of their maneuverability (for example, [7][8][9][10], see also [3]) and those studying the ways of control on the prescribed trajectories (for example, [11][12][13][14][15][16]). The analysis of their dynamics helps enhance the properties of the prototypes and the controllers.…”

Section: Introductionmentioning

confidence: 99%