Navigational analysis of multiple humanoids using a hybrid regression-fuzzy logic control approach in complex terrains

Kumar, Priyadarshi Biplab; Muni, Manoj Kumar; Parhi, Dayal R.

doi:10.1016/j.asoc.2020.106088

Cited by 38 publications

(18 citation statements)

References 26 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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“…Simulated annealing [98] is mimicking of heat treatment processes and is used as a soft computing method for solving local minima problem during path planning of robots. Soft computing methods [99][100] have been used by engineers to address various problems related to control of robots movements. Paper [101] discusses hybrid AI Cuckoo-Neuro technique for robot path analysis in complex environments.…”

Section: Introductionmentioning

confidence: 99%

Analysis and Design of Automated Transport and Path Planning for Robots in Cluttered Environments using Novel Hybrid Average Genetic-Neural Control Technique

2021

CERJ

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In the current investigation on automated transport and navigational path planning of robots, a new Hybrid Average Genetic-Neural (HAGN) technique has been developed. The HAGN technique uses genetic algorithm and multi layered neural technique as important parts for its development. The robots are equipped with several sensors to map the surrounding environments and to recognize the obstacles and targets around. During the navigation robots take into account front, left and right obstacle distances obtained from sensors to negotiate with obstacles and reach targets with the help of HAGN technique. To prove authenticity of the proposed method several simulation and experimental exercises have been carried out. Comparisons between simulation and experimental results are presented in pictorial and tabular forms. The deviation between simulation and experimental results are found to be within 2.8%. Other engineering applications can also be addressed using HAGN AI technique.

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“…Rath et al (2018c, 2019) have presented a fuzzy logic-based navigational control approach for motion planning of a humanoid robot. Kumar et al (2020a, b) have developed computational intelligence based humanoid navigational models for testing in complex environments.…”

Section: Introductionmentioning

confidence: 99%

Design of a hybrid controller using genetic algorithm and neural network for path planning of a humanoid robot

Rath¹,

Parhi

Das

et al. 2020

IJIUS

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PurposeTo navigate humanoid robots in complex arenas, a significant level of intelligence is required which needs proper integration of computational intelligence with the robot's controller. This paper describes the use of a combination of genetic algorithm and neural network for navigational control of a humanoid robot in given cluttered environments.Design/methodology/approachThe experimental work involved in the current study has been done by a NAO humanoid robot in laboratory conditions and simulation work has been done by the help of V-REP software. Here, a genetic algorithm controller is first used to generate an initial turning angle for the robot and then the genetic algorithm controller is hybridized with a neural network controller to generate the final turning angle.FindingsFrom the simulation and experimental results, satisfactory agreements have been observed in terms of navigational parameters with minimal error limits that justify the proper working of the proposed hybrid controller.Originality/valueWith a lack of sufficient literature on humanoid navigation, the proposed hybrid controller is supposed to act as a guiding way towards the design and development of more robust controllers in the near future.

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Navigational analysis of multiple humanoids using a hybrid regression-fuzzy logic control approach in complex terrains

Cited by 38 publications

References 26 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

Analysis and Design of Automated Transport and Path Planning for Robots in Cluttered Environments using Novel Hybrid Average Genetic-Neural Control Technique

Design of a hybrid controller using genetic algorithm and neural network for path planning of a humanoid robot

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