Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm
This article introduces a singleton type-1 fuzzy logic system (T1-SFLS) controller and Fuzzy-WDO hybrid for the autonomous mobile robot navigation and collision avoidance in an unknown static and dynamic environment. The WDO (Wind Driven Optimization) algorithm is used to optimize and tune the input...
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| Format: | Article |
| Language: | English |
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KeAi Communications Co., Ltd.
2017-02-01
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| Series: | Defence Technology |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2214914716300824 |
| _version_ | 1818865918061576192 |
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| author | Anish Pandey Dayal R. Parhi |
| author_facet | Anish Pandey Dayal R. Parhi |
| author_sort | Anish Pandey |
| collection | DOAJ |
| description | This article introduces a singleton type-1 fuzzy logic system (T1-SFLS) controller and Fuzzy-WDO hybrid for the autonomous mobile robot navigation and collision avoidance in an unknown static and dynamic environment. The WDO (Wind Driven Optimization) algorithm is used to optimize and tune the input/output membership function parameters of the fuzzy controller. The WDO algorithm is working based on the atmospheric motion of infinitesimal small air parcels navigates over an N-dimensional search domain. The performance of this proposed technique has compared through many computer simulations and real-time experiments by using Khepera-III mobile robot. As compared to the T1-SFLS controller the Fuzzy-WDO algorithm is found good agreement for mobile robot navigation. |
| first_indexed | 2024-12-19T10:55:11Z |
| format | Article |
| id | doaj.art-0c7c73f49e46465daeb082ee22204900 |
| institution | Directory Open Access Journal |
| issn | 2214-9147 |
| language | English |
| last_indexed | 2024-12-19T10:55:11Z |
| publishDate | 2017-02-01 |
| publisher | KeAi Communications Co., Ltd. |
| record_format | Article |
| series | Defence Technology |
| spelling | doaj.art-0c7c73f49e46465daeb082ee222049002022-12-21T20:24:50ZengKeAi Communications Co., Ltd.Defence Technology2214-91472017-02-01131475810.1016/j.dt.2017.01.001Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithmAnish PandeyDayal R. ParhiThis article introduces a singleton type-1 fuzzy logic system (T1-SFLS) controller and Fuzzy-WDO hybrid for the autonomous mobile robot navigation and collision avoidance in an unknown static and dynamic environment. The WDO (Wind Driven Optimization) algorithm is used to optimize and tune the input/output membership function parameters of the fuzzy controller. The WDO algorithm is working based on the atmospheric motion of infinitesimal small air parcels navigates over an N-dimensional search domain. The performance of this proposed technique has compared through many computer simulations and real-time experiments by using Khepera-III mobile robot. As compared to the T1-SFLS controller the Fuzzy-WDO algorithm is found good agreement for mobile robot navigation.http://www.sciencedirect.com/science/article/pii/S2214914716300824Singleton type-1 fuzzyNavigationWind driven optimizationMembership functionAtmospheric motion |
| spellingShingle | Anish Pandey Dayal R. Parhi Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm Defence Technology Singleton type-1 fuzzy Navigation Wind driven optimization Membership function Atmospheric motion |
| title | Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm |
| title_full | Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm |
| title_fullStr | Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm |
| title_full_unstemmed | Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm |
| title_short | Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm |
| title_sort | optimum path planning of mobile robot in unknown static and dynamic environments using fuzzy wind driven optimization algorithm |
| topic | Singleton type-1 fuzzy Navigation Wind driven optimization Membership function Atmospheric motion |
| url | http://www.sciencedirect.com/science/article/pii/S2214914716300824 |
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