Fuzzy motion planning using the Takagi-Sugeno method

Walker, Kevin B.; Esterline, Albert

doi:10.1109/secon.2000.845425

Cited by 5 publications

(5 citation statements)

References 1 publication

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“…Hex Moor [44] was the frst to apply the FL concept to robotic route planning and obstacle avoidance. Te Takagi-Sugeno technique was then used to construct fuzzy robot motion planning [45]. Similarly, in [46], fuzzy robot motion planning was proposed utilizing the genetic algorithm with a fuzzy critic.…”

Section: Heuristic Approachmentioning

confidence: 99%

A Review on Path Planning and Obstacle Avoidance Algorithms for Autonomous Mobile Robots

Rafai

Adzhar

Jaini

2022

Journal of Robotics

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Mobile robots have been widely used in various sectors in the last decade. A mobile robot could autonomously navigate in any environment, both static and dynamic. As a result, researchers in the robotics field have offered a variety of techniques. This paper reviews the mobile robot navigation approaches and obstacle avoidance used so far in various environmental conditions to recognize the improvement of path planning strategists. Taking into consideration commonly used classical approaches such as Dijkstra algorithm (DA), artificial potential field (APF), probabilistic road map (PRM), cell decomposition (CD), and meta-heuristic techniques such as fuzzy logic (FL), neutral network (NN), particle swarm optimization (PSO), genetic algorithm (GA), cuckoo search algorithm (CSO), and artificial bee colony (ABC). Classical approaches have limitations of trapping in local minima, failure to handle uncertainty, and many more. On the other hand, it is observed that heuristic approaches can solve most real-world problems and perform well after some modification and hybridization with classical techniques. As a result, many methods have been established worldwide for the path planning strategy for mobile robots. The most often utilized approaches, on the other hand, are offered below for further study.

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Section: Heuristic Approachmentioning

confidence: 99%

A Review on Path Planning and Obstacle Avoidance Algorithms for Autonomous Mobile Robots

Rafai

Adzhar

Jaini

2022

Journal of Robotics

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“…A considerable amount of publications are aimed to develop robot motion planning [1]. Early and influential work on motion planning include algorithms for path planning [2] as well as approaches based on fuzzy logic [3], [4], genetic algorithms [5], [6], and neural networks [7], [8].…”

Section: A Motion Planningmentioning

confidence: 99%

Tethered Tool Manipulation Planning With Cable Maneuvering

Sánchez

Wan

Harada

2020

IEEE Robot. Autom. Lett.

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In this paper, we present a planner for manipulating tethered tools using dual-armed robots. The planner generates robot motion sequences to maneuver a tool and its cable while avoiding robot-cable entanglements. Firstly, the planner generates an Object Manipulation Motion Sequence (OMMS) to handle the tool and place it in desired poses. Secondly, the planner examines the tool movement associated with the OMMS and computes candidate positions for a cable slider, to maneuver the tool cable and avoid collisions. Finally, the planner determines the optimal slider positions to avoid entanglements and generates a Cable Manipulation Motion Sequence (CMMS) to place the slider in these positions. The robot executes both the OMMS and CMMS to handle the tool and its cable to avoid entanglements and excess cable bending. Simulations and realworld experiments help validate the proposed method.

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“…A Sugeno-type [6], fuzzy motion planner of four inputs one output is introduced to give an obstacle-free direction to the robot controller. The inputs are the frontal, right and left obstacle ranges found by the front, right and left sensors.…”

Section: Design and Simulation Of The Layered Fuzzy Navigatormentioning

confidence: 99%

“…The fuzzy motion planner uses Takagi-Sugeno fuzzy inference for the rule evaluation [6,17,18]. Unlike other fuzzy control methods [19], the Takagi-Sugeno results in the output of a control function for the system depending on the values of the inputs which is ideal for acting as an interpolation supervisor of multiple linear controllers that are to be applied, respectively, to different operating conditions of a dynamic nonlinear system as in the present case.…”

Section: Design and Simulation Of The Layered Fuzzy Navigatormentioning

confidence: 99%

“…The purpose of this paper is to develop and implement an autonomous hovercraft with an intelligent fuzzy control system for steering the proposed system. The system consists of a Takagi-Sugeno-type fuzzy [6] motion planner [7] and a modified proportional navigation based fuzzy controller [8][9][10][11][12][13][14][15][16][17][18][19]. MATLAB and Simulink, will be used in designing the control system and also to verify the proposed system performance.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Investigation of Modern Control Algorithems in Mechatronic System

Morsy¹,

El-Khatib²,

Hussein³

et al. 2012

The International Conference on Applied Mechanics and Mechanica

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The hovercraft is a fascinating mechatronic system that possesses the unique ability to float above land or water. In designing a mechatronic system, there are many factors should be considered, such as mechanical body, control system and actuators, etc.The objective of the paper is to design, simulate and implement an autonomous model of a small hovercraft. State-space method is used to represent the dynamics of a hovercraft. A real time layered fuzzy navigator for a hovercraft in a dynamic environment is proposed. The system consists of a Takagi-Sugeno-type fuzzy motion planner and a modified proportional navigation based fuzzy controller. MATLAB/Simulink software tool is used to design and verify the proposed algorithm. KEY WORDSMechatronic system, Hovercraft, fuzzy control, Takagi-Sugeno-type fuzzy system. ---

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Fuzzy motion planning using the Takagi-Sugeno method

Cited by 5 publications

References 1 publication

A Review on Path Planning and Obstacle Avoidance Algorithms for Autonomous Mobile Robots

A Review on Path Planning and Obstacle Avoidance Algorithms for Autonomous Mobile Robots

Tethered Tool Manipulation Planning With Cable Maneuvering

Investigation of Modern Control Algorithems in Mechatronic System

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