A Fuzzy Logical Application in a Robot Self Navigation

Cong, Xiaohong; Ning, Hui; Miao, Zhibin

doi:10.1109/iciea.2007.4318945

Cited by 5 publications

(4 citation statements)

References 2 publications

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“…An approach proposed by Bae,et al,([1]) is a simple cutting force regularization method to adjust feed rates for pocket machining. This approach first introduces cutter engagement angle to measure chip load in two dimensions and derives the relationship between the cutter engagement angle and the radial depth of cut.…”

Section: Related Workmentioning

confidence: 99%

“…The proposed approaches on feed rate determination can be classified as on-line and off-line approaches. The on-line approaches utilize force/torque sensors on tools to measure the cutting forces/torques when machining and adjust the feed rate based on the cutting force/torque ( [1]). However, the control system and sensors in the on-line approaches are quite expensive, so these approaches are not widely used in industry.…”

Section: Introductionmentioning

confidence: 99%

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A fuzzy system approach of feed rate determination for CNC milling

Miao

2009

2009 4th IEEE Conference on Industrial Electronics and Applications

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Determinationof optimal machining parameters -spindle rate, feed rate, and depth of cut -has been a research topic for decades. Since the parameters of CNC machining significantly influence part machining time, part surface quality, and tool life, techniques of determining optimal machining parameters are in high demand in manufacturing industry. Usually the depth of cut and spindle rate are determined according to machinist manuals before machining; and the feed rate is determined subjectively either by CNC machine operators or programmers. As a result, the feed rate is not optimal in terms of the machining condition at every cutter location, and it is fixed at a conservative value causing longer machining time or shorter tool life. In this work, a generic and intelligent approach of feed rate determination for CNC profile milling is proposed. First a simplified cutting force model is introduced and an example database of machining parameters is presented. Second a fuzzy rule-based system is established to predict the cutting force based on the radial and axial depths of cut, and the assumed feed rate. Then identify the geometric features of the part, calculate the engagement angles of the geometric features, and find optimal feed rates for them. Finally apply this approach on an example part for profile milling, and the results are simulated with CATIA CAD/CAM system to demonstrate the advantages of this approach.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A fuzzy system approach of feed rate determination for CNC milling

Miao

2009

2009 4th IEEE Conference on Industrial Electronics and Applications

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“…Cong et al in [3] applies fuzzy logical in their selfnavigating robots. A fuzzy logic system consists of fuzzy variable membership functions, a rule base, fuzzy reasoning and defuzzification.…”

Section: Related Workmentioning

confidence: 99%

Mobile Robot Path Optimization Algorithm Using Vector Calculus and Mapping of 2 Dimensional Space

2015

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This research explores path integration in mobile robot navigation and path optimization technique using vector calculus. A simulated robot in a simulated environment is used to test the algorithm that is to be developed. The simulated robot is equipped with a sonar sensor and several infrared sensors on its chassis. Mobile robot navigation in an unknown environment is very crucial as It not only has to be concerned about reaching its destination but also to avoid obstacles that may be in the way. This algorithm can effectively allow a mobile robot to navigate an unknown environment without collision into obstacles.

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“…That is, find fuzzy cluster centers to establish the exponential membership functions to represent the fuzzy rules in output data [1].…”

Section: Stepmentioning

confidence: 99%

Fuzz interpolation in GPS/INS data fusion

Miao

Zhang

et al. 2010

The 2010 IEEE International Conference on Information and Automation

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Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) are very practical method to get high precision navigation. GPS/INS data Fusion in navigation has been a research topic for decades. Usually the update time of GPS an INS is different. The update time of GPS is 20HZ, and the time of INS is 100HZ or higher. Since GPS and INS are mainly methods in navigation system. Techniques of fusing GPS and INS data are in high demand in navigation industry. Usually the Karman filter is used to fuse the data from GPS and INS. But the Kalman filter is model-dependent and a priori the model parameters need to be known. In this work, a generic and intelligent approach of GPS and INS data fuse using fuzzy interpolation before Kalman algorithm is proposed. First a simplified interpolation model is introduced in a ordinary GPS and INS data fusion. Second a fuzzy rule-based system is established to fuzzy interpolation with objective fuzzy method.Then the parameters of objective fuzzy system are identified, the best n-rule is determinate and the optimal rule base system is found. Finally this approach is applied on an example for a car GPS and INS data fusion, and the results are calculated with computer system to demonstrate the advantages of this approach.

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A Fuzzy Logical Application in a Robot Self Navigation

Cited by 5 publications

References 2 publications

A fuzzy system approach of feed rate determination for CNC milling

A fuzzy system approach of feed rate determination for CNC milling

Mobile Robot Path Optimization Algorithm Using Vector Calculus and Mapping of 2 Dimensional Space

Fuzz interpolation in GPS/INS data fusion

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