Revision on fuzzy artificial potential field for humanoid robot path planning in unknown environment

Fakoor, Mahdi; Kosari, Amirreza; Jafarzadeh, Mohsen

doi:10.1504/ijamechs.2015.072707

Cited by 29 publications

(17 citation statements)

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“…For instance, when managers determine resources, these resources will be under the effect of managers' independence and the imposed control over them. This concept has been supported by several authors indicating that organizational factors apply considerable effects on political behavior compared to other environmental and managerial factors (Fakoor et al, 2015).…”

Section: Introductionmentioning

confidence: 82%

Organizational Independence Pattern of Central Bank of the Islamic Republic of Iran based on Organizational Health

Karami

Salimian

2018

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This research intends to introduce a pattern for independence of Central Bank of Islamic Republic of Iran based on organizational health. The research was conducted through a descriptive-survey method. The samples included 140 people of the elite Central Bank experts and managers. These samples were selected by means of a simple random sampling procedure. The pertaining data was gathered by valid researcher-made questionnaires used for assessing the variable for organizational independence and organizational health of the Central Bank. For data analysis, confirmatory factor analysis and structural model were used for synchronous relations of the components and one-sample average test was utilized for investigating the variables. The components of Central Bank independence, functional and legal independence, staff independence and financial independence are based on Mervin King's research (2012) and organizational health is based on Khodayari et al., (2017). Generally, in the main hypothesis, independence of the Central Bank along with organizational health had significant factor loads in the experts' viewpoint. The results indicate that the basic levels of organizational health including fundamental level, structural-cultural levels, and executive levels significantly influence the organizational independence of the Central Bank according to which a suitable model has been designed for the Central Bank's stasis in organizational decisions.

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Section: Introductionmentioning

confidence: 82%

Organizational Independence Pattern of Central Bank of the Islamic Republic of Iran based on Organizational Health

Karami

Salimian

2018

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“…Each cell (except the target point) can share obstacle and free space beside some uncertainty. So, to fuzzify these equations, the magnitude of the repulsive force is multiplied to the membership function of obstacle space (µ) [43]. Thus, Equations (20) and (21) can be obtained as:…”

Section: Synthetic Potential Field Methodsmentioning

confidence: 99%

Robot Motion Planning in an Unknown Environment with Danger Space

et al. 2019

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This paper discusses the real-time optimal path planning of autonomous humanoid robots in unknown environments regarding the absence and presence of the danger space. The danger is defined as an environment which is not an obstacle nor free space and robot are permitted to cross when no free space options are available. In other words, the danger can be defined as the potentially risky areas of the map. For example, mud pits in a wooded area and greasy floor in a factory can be considered as a danger. The synthetic potential field, linguistic method, and Markov decision processes are methods which have been reviewed for path planning in a free-danger unknown environment. The modified Markov decision processes based on the Takagi–Sugeno fuzzy inference system is implemented to reach the target in the presence and absence of the danger space. In the proposed method, the reward function has been calculated without the exact estimation of the distance and shape of the obstacles. Unlike other existing path planning algorithms, the proposed methods can work with noisy data. Additionally, the entire motion planning procedure is fully autonomous. This feature makes the robot able to work in a real situation. The discussed methods ensure the collision avoidance and convergence to the target in an optimal and safe path. An Aldebaran humanoid robot, NAO H25, has been selected to verify the presented methods. The proposed methods require only vision data which can be obtained by only one camera. The experimental results demonstrate the efficiency of the proposed methods.

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“…To define the mathematical expression about the repulsive force field, the following two conditions need firstly be conformed [25]: (1) the artificial potential field sum ( ) must be a continuous-differential function, and when is equal to g , the value of sum ( ) is 0 (minimum value). (2) Under the effect of the artificial potential field sum ( ), the system can be stable.…”

Section: Harvesting Sequence Planning Based On Minimum Energymentioning

confidence: 99%

Collision‐Free Path‐Planning for Six‐DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field

Luo

Wen

et al. 2018

Complexity

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Collision-free autonomous path planning under a dynamic and uncertainty vineyard environment is the most important issue which needs to be resolved firstly in the process of improving robotic harvesting manipulator intelligence. We present and apply energy optimal and artificial potential field to develop a path planning method for six degree of freedom (DOF) serial harvesting robot under dynamic uncertain environment. Firstly, the kinematical model of Six-DOF serial manipulator was constructed by using the Denavit-Hartenberg (D-H) method. The model of obstacles was defined by axis-aligned bounding box, and then the configuration space of harvesting robot was described by combining the obstacles and arm space of robot. Secondly, the harvesting sequence in path planning was computed by energy optimal method, and the anticollision path points were automatically generated based on the artificial potential field and sampling searching method. Finally, to verify and test the proposed path planning algorithm, a virtual test system based on virtual reality was developed. After obtaining the space coordinates of grape picking point and anticollision bounding volume, the path points were drew out by the proposed method. 10 times picking tests for grape anticollision path planning were implemented on the developed simulation system, and the success rate was up to 90%. The results showed that the proposed path planning method can be used to the harvesting robot.

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Revision on fuzzy artificial potential field for humanoid robot path planning in unknown environment

Cited by 29 publications

References 0 publications

Organizational Independence Pattern of Central Bank of the Islamic Republic of Iran based on Organizational Health

Organizational Independence Pattern of Central Bank of the Islamic Republic of Iran based on Organizational Health

Robot Motion Planning in an Unknown Environment with Danger Space

Collision‐Free Path‐Planning for Six‐DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field

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