Hybrid Global Positioning System-Adaptive Neuro-Fuzzy Inference System based autonomous mobile robot navigation

Gharajeh, Mohammad Samadi; Jond, Hossein Barghi

doi:10.1016/j.robot.2020.103669

Cited by 32 publications

(14 citation statements)

References 21 publications

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“…Their big advantage is the possibility of graphical presentation of research results, modeling uncertainty and examining the influence of many factors on the phenomenon. There are numerous references to the use of fuzzy sets in the literature for navigation, e.g., [46][47][48]. For the sake of order, the process of building a linguistic fuzzy model is presented below.…”

Section: Methodsmentioning

confidence: 99%

On the Correlation of Solar Activity and Troposphere on the GNSS/EGNOS Integrity. Fuzzy Logic Approach

Krzykowska-Piotrowska

Dudek

Wielgosz

et al. 2021

Energies

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There is a noticeable number of studies carried out on both the operational parameters of Global Navigation Satellite System (GNSS) and the satellite signal itself. Researchers look for, inter alia, proven sources of errors affecting the integrity of the satellite signal because this parameter determines the approval of the system’s operational use. It also seems of key importance that the atmospheric conditions, in any area of satellite signal usage, should not be underestimated due to their extensive impact. As the ionospheric refraction seriously limits the operational use of the satellite navigation signal, in this article, the authors attempted to quantify the effect of solar activity (expressed by sunspots) on the signal integrity using fuzzy logic. Fuzzy reasoning is used when information is inaccurate or incomplete and necessitates making decisions under conditions of uncertainty. Thanks to fuzzy sets, there are no obstacles to characterize the degree of intensity of a given phenomenon. In order to look at the problem more broadly, attention was also paid to the tropospheric conditions, and it was verified whether, against the background of cloudiness, precipitation, humidity, pressure and temperature, solar activity affects the integrity to the greatest extent. The integrity measurements from the EGNOS system (PRN120 and PRN126) collected at the monitoring station in Warsaw, Poland in 2014 were used.

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Section: Methodsmentioning

confidence: 99%

On the Correlation of Solar Activity and Troposphere on the GNSS/EGNOS Integrity. Fuzzy Logic Approach

Krzykowska-Piotrowska

Dudek

Wielgosz

et al. 2021

Energies

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“…The control system of an autonomous wheeled mobile robot perceives its environment via embedded sensors and controls the robot’s navigation. An effective control algorithm navigates the robot through a (near-) optimal collision-free path from a start position to the target [ 2 , 3 ]. The path’s optimality is measured with respect to the traversed path length and navigation time, etc.…”

Section: Introductionmentioning

confidence: 99%

Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning

Gharajeh

Jond

2021

Sensors

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Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging objectives in the endeavor for efficient autonomous collision-free navigation. This paper proposes an intelligent technique for speed control of a wheeled mobile robot using a combination of fuzzy logic and supervised machine learning (SML). The technique is appropriate for flexible leader-follower formation control on straight paths where a follower robot maintains a safely varying distance from a leader robot. A fuzzy controller specifies the ultimate distance of the follower to the leader using the measurements obtained from two ultrasonic sensors. An SML algorithm estimates a proper speed for the follower based on the ultimate distance. Simulations demonstrated that the proposed technique appropriately adjusts the follower robot’s speed to maintain a flexible formation with the leader robot.

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“…Fuzzy control depends on human experience, and its fixed rules are difficult to adapt to complex real environments. Gharajeh and Jond proposed a hybrid GPS-ANFIS based method [28]. It is composed of a GPS-based controller for the global navigation of the robot toward the goal and an ANFIS controller for obstacle avoidance local navigation.…”

Section: Introductionmentioning

confidence: 99%

A Fusion Method of Local Path Planning for Mobile Robots Based on LSTM Neural Network and Reinforcement Learning

Guo

Gao

et al. 2021

Mathematical Problems in Engineering

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Due to the limitation of mobile robots’ understanding of the environment in local path planning tasks, the problems of local deadlock and path redundancy during planning exist in unknown and complex environments. In this paper, a novel algorithm based on the combination of a long short-term memory (LSTM) neural network, fuzzy logic control, and reinforcement learning is proposed, and uses the advantages of each algorithm to overcome the other’s shortcomings. First, a neural network model including LSTM units is designed for local path planning. Second, a low-dimensional input fuzzy logic control (FL) algorithm is used to collect training data, and a network model (LSTM_FT) is pretrained by transferring the learned method to learn the basic ability. Then, reinforcement learning is combined to learn new rules from the environments autonomously to better suit different scenarios. Finally, the fusion algorithm LSTM_FTR is simulated in static and dynamic environments, and compared to FL and LSTM_FT algorithms, respectively. Numerical simulations show that, compared to FL, LSTM_FTR can significantly improve decision-making efficiency, improve the success rate of path planning, and optimize the path length. Compared to the LSTM_FT, LSTM_FTR can improve the success rate and learn new rules.

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Hybrid Global Positioning System-Adaptive Neuro-Fuzzy Inference System based autonomous mobile robot navigation

Cited by 32 publications

References 21 publications

On the Correlation of Solar Activity and Troposphere on the GNSS/EGNOS Integrity. Fuzzy Logic Approach

On the Correlation of Solar Activity and Troposphere on the GNSS/EGNOS Integrity. Fuzzy Logic Approach

Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning

A Fusion Method of Local Path Planning for Mobile Robots Based on LSTM Neural Network and Reinforcement Learning

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