Motion modelling using concepts of fuzzy artificial potential fields
Artificial potential fields (APF) are well established for reactive navigation of mobile robots. This paper describes a fast and robust fuzzy-APF on an ActivMedia AmigoBot.Obstacle-related information is fuzzified by using sensory fusion, which results in a shorter runtime. In addition, the membersh...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Universiti Malaysia Pahang
2010
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| Online Access: | http://psasir.upm.edu.my/id/eprint/22914/1/Motion%20modelling%20using%20concepts%20of%20fuzzy%20artificial%20potential%20fields.pdf |
| _version_ | 1825925250626355200 |
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| author | Motlagh, Omid Reza Esmaeili Ramli, Abdul Rahman Tang, Sai Hong Motlagh, Farid Esmaeili Ismail, Napsiah |
| author_facet | Motlagh, Omid Reza Esmaeili Ramli, Abdul Rahman Tang, Sai Hong Motlagh, Farid Esmaeili Ismail, Napsiah |
| author_sort | Motlagh, Omid Reza Esmaeili |
| collection | UPM |
| description | Artificial potential fields (APF) are well established for reactive navigation of mobile robots. This paper describes a fast and robust fuzzy-APF on an ActivMedia AmigoBot.Obstacle-related information is fuzzified by using sensory fusion, which results in a shorter runtime. In addition, the membership functions of obstacle direction and range have been merged into one function, obtaining a smaller block of rules. The system is tested in virtual environments with non-concave obstacles. Then, the paper describes a new approach to motion modelling where the motion of intelligent travellers is modelled by consecutive path segments. In previous work, the authors described a reliable motion modelling technique using causal inference of fuzzy cognitive maps (FCM) which has been efficiently modified for the purpose of this contribution. Results and analysis are given to demonstrate the efficiency and accuracy of the proposed motion modelling algorithm. |
| first_indexed | 2024-03-06T07:55:21Z |
| format | Article |
| id | upm.eprints-22914 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T07:55:21Z |
| publishDate | 2010 |
| publisher | Universiti Malaysia Pahang |
| record_format | dspace |
| spelling | upm.eprints-229142020-04-15T16:18:07Z http://psasir.upm.edu.my/id/eprint/22914/ Motion modelling using concepts of fuzzy artificial potential fields Motlagh, Omid Reza Esmaeili Ramli, Abdul Rahman Tang, Sai Hong Motlagh, Farid Esmaeili Ismail, Napsiah Artificial potential fields (APF) are well established for reactive navigation of mobile robots. This paper describes a fast and robust fuzzy-APF on an ActivMedia AmigoBot.Obstacle-related information is fuzzified by using sensory fusion, which results in a shorter runtime. In addition, the membership functions of obstacle direction and range have been merged into one function, obtaining a smaller block of rules. The system is tested in virtual environments with non-concave obstacles. Then, the paper describes a new approach to motion modelling where the motion of intelligent travellers is modelled by consecutive path segments. In previous work, the authors described a reliable motion modelling technique using causal inference of fuzzy cognitive maps (FCM) which has been efficiently modified for the purpose of this contribution. Results and analysis are given to demonstrate the efficiency and accuracy of the proposed motion modelling algorithm. Universiti Malaysia Pahang 2010 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/22914/1/Motion%20modelling%20using%20concepts%20of%20fuzzy%20artificial%20potential%20fields.pdf Motlagh, Omid Reza Esmaeili and Ramli, Abdul Rahman and Tang, Sai Hong and Motlagh, Farid Esmaeili and Ismail, Napsiah (2010) Motion modelling using concepts of fuzzy artificial potential fields. International Journal of Automotive and Mechanical Engineering, 2. pp. 171-180. ISSN 2229-8649; ESSN: 2180-1606 http://journal.ump.edu.my/ijame/vol2 10.15282/ijame.2.2010.6.0014 |
| spellingShingle | Motlagh, Omid Reza Esmaeili Ramli, Abdul Rahman Tang, Sai Hong Motlagh, Farid Esmaeili Ismail, Napsiah Motion modelling using concepts of fuzzy artificial potential fields |
| title | Motion modelling using concepts of fuzzy artificial potential fields |
| title_full | Motion modelling using concepts of fuzzy artificial potential fields |
| title_fullStr | Motion modelling using concepts of fuzzy artificial potential fields |
| title_full_unstemmed | Motion modelling using concepts of fuzzy artificial potential fields |
| title_short | Motion modelling using concepts of fuzzy artificial potential fields |
| title_sort | motion modelling using concepts of fuzzy artificial potential fields |
| url | http://psasir.upm.edu.my/id/eprint/22914/1/Motion%20modelling%20using%20concepts%20of%20fuzzy%20artificial%20potential%20fields.pdf |
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