Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone
With the increasing use of humanoid robots in several sectors of industrial automation and manufacturing, navigation and path planning of humanoids has emerged as one of the most promising area of research. In this paper, a navigational controller has been developed for a humanoid by using fuzzy log...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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KeAi Communications Co., Ltd.
2018-12-01
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| Series: | Defence Technology |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2214914718300229 |
| _version_ | 1818938913457176576 |
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| author | Asita Kumar Rath Dayal R. Parhi Harish Chandra Das Manoj Kumar Muni Priyadarshi Biplab Kumar |
| author_facet | Asita Kumar Rath Dayal R. Parhi Harish Chandra Das Manoj Kumar Muni Priyadarshi Biplab Kumar |
| author_sort | Asita Kumar Rath |
| collection | DOAJ |
| description | With the increasing use of humanoid robots in several sectors of industrial automation and manufacturing, navigation and path planning of humanoids has emerged as one of the most promising area of research. In this paper, a navigational controller has been developed for a humanoid by using fuzzy logic as an intelligent algorithm for avoiding the obstacles present in the environment and reach the desired target position safely. Here, the controller has been designed by careful consideration of the navigational parameters by the help of fuzzy rules. The sensory information regarding obstacle distances and bearing angle towards the target are considered as inputs to the controller and necessary velocities for avoiding the obstacles are obtained as outputs. The working of the controller has been tested on a NAO humanoid robot in V-REP simulation platform. To validate the simulation results, an experimental platform has been designed under laboratory conditions, and experimental analysis has been performed. Finally, the results obtained from both the environments are compared against each other with a good agreement between them. Keywords: Humanoid robot, Navigation, Path planning, Fuzzy |
| first_indexed | 2024-12-20T06:15:24Z |
| format | Article |
| id | doaj.art-a893b1701d1b4452926d51106257ca1b |
| institution | Directory Open Access Journal |
| issn | 2214-9147 |
| language | English |
| last_indexed | 2024-12-20T06:15:24Z |
| publishDate | 2018-12-01 |
| publisher | KeAi Communications Co., Ltd. |
| record_format | Article |
| series | Defence Technology |
| spelling | doaj.art-a893b1701d1b4452926d51106257ca1b2022-12-21T19:50:33ZengKeAi Communications Co., Ltd.Defence Technology2214-91472018-12-01146677682Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zoneAsita Kumar Rath0Dayal R. Parhi1Harish Chandra Das2Manoj Kumar Muni3Priyadarshi Biplab Kumar4Centre of Biomechanical Science, Siksha ‘O’ Anusandhan Deemed to be University, Bhubaneswar, Odisha 751030, India; Corresponding author.Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela, Odisha 769008, IndiaMechanical Engineering Department, National Institute of Technology, Shillong, Meghalaya 793003, IndiaRobotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela, Odisha 769008, IndiaRobotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela, Odisha 769008, IndiaWith the increasing use of humanoid robots in several sectors of industrial automation and manufacturing, navigation and path planning of humanoids has emerged as one of the most promising area of research. In this paper, a navigational controller has been developed for a humanoid by using fuzzy logic as an intelligent algorithm for avoiding the obstacles present in the environment and reach the desired target position safely. Here, the controller has been designed by careful consideration of the navigational parameters by the help of fuzzy rules. The sensory information regarding obstacle distances and bearing angle towards the target are considered as inputs to the controller and necessary velocities for avoiding the obstacles are obtained as outputs. The working of the controller has been tested on a NAO humanoid robot in V-REP simulation platform. To validate the simulation results, an experimental platform has been designed under laboratory conditions, and experimental analysis has been performed. Finally, the results obtained from both the environments are compared against each other with a good agreement between them. Keywords: Humanoid robot, Navigation, Path planning, Fuzzyhttp://www.sciencedirect.com/science/article/pii/S2214914718300229 |
| spellingShingle | Asita Kumar Rath Dayal R. Parhi Harish Chandra Das Manoj Kumar Muni Priyadarshi Biplab Kumar Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone Defence Technology |
| title | Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone |
| title_full | Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone |
| title_fullStr | Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone |
| title_full_unstemmed | Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone |
| title_short | Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone |
| title_sort | analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone |
| url | http://www.sciencedirect.com/science/article/pii/S2214914718300229 |
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