A Fuzzy Logic Positional-Based Controller For Sensorbased Robotic Motion Planning
Motion planning is a critical task for any robotic system. Despite the large volume of research in this field, the computational complexity of the motion planning and the increasing potential application domains require more accurate and efficient motion planning algorithms. In this paper, a novel p...
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Asian Research Publishing Network
2023
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| _version_ | 1833349467966799872 |
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| author | Khaksar W. Yousefi M. Saharia K.S.M. Ismail F.B. |
| author2 | 54960984900 |
| author_facet | 54960984900 Khaksar W. Yousefi M. Saharia K.S.M. Ismail F.B. |
| author_sort | Khaksar W. |
| building | UNITEN Library |
| collection | Institutional Repository |
| content_provider | Universiti Tenaga Nasional |
| content_source | UNITEN Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | Motion planning is a critical task for any robotic system. Despite the large volume of research in this field, the computational complexity of the motion planning and the increasing potential application domains require more accurate and efficient motion planning algorithms. In this paper, a novel positional-based motion controller is proposed which requires very little amount of information from the robot�s sensory system. The proposed controller evaluates candidate positions of the robot and selects the most promising ones according to the output of a fuzzy logic controller. The designed controller defines three positional variables for destination evaluation in order to improve the path length and runtime of the solutions. The performance of the proposed planner is tested through computer simulation in different types of environments. Simulation studies indicate the efficiency and robustness of the proposed algorithm. � 2006-2015 Asian Research Publishing Network (ARPN). All rights reserved. |
| format | Article |
| id | my.uniten.dspace-22239 |
| institution | Universiti Tenaga Nasional |
| publishDate | 2023 |
| publisher | Asian Research Publishing Network |
| record_format | dspace |
| spelling | my.uniten.dspace-222392023-05-29T13:59:47Z A Fuzzy Logic Positional-Based Controller For Sensorbased Robotic Motion Planning Khaksar W. Yousefi M. Saharia K.S.M. Ismail F.B. 54960984900 53985756300 57221939979 58027086700 Motion planning is a critical task for any robotic system. Despite the large volume of research in this field, the computational complexity of the motion planning and the increasing potential application domains require more accurate and efficient motion planning algorithms. In this paper, a novel positional-based motion controller is proposed which requires very little amount of information from the robot�s sensory system. The proposed controller evaluates candidate positions of the robot and selects the most promising ones according to the output of a fuzzy logic controller. The designed controller defines three positional variables for destination evaluation in order to improve the path length and runtime of the solutions. The performance of the proposed planner is tested through computer simulation in different types of environments. Simulation studies indicate the efficiency and robustness of the proposed algorithm. � 2006-2015 Asian Research Publishing Network (ARPN). All rights reserved. Final 2023-05-29T05:59:47Z 2023-05-29T05:59:47Z 2015 Article 2-s2.0-85100610885 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85100610885&partnerID=40&md5=c5f11f1fd65245670cab0c91cd8a4230 https://irepository.uniten.edu.my/handle/123456789/22239 10 18 8395 8398 Asian Research Publishing Network Scopus |
| spellingShingle | Khaksar W. Yousefi M. Saharia K.S.M. Ismail F.B. A Fuzzy Logic Positional-Based Controller For Sensorbased Robotic Motion Planning |
| title | A Fuzzy Logic Positional-Based Controller For Sensorbased Robotic Motion Planning |
| title_full | A Fuzzy Logic Positional-Based Controller For Sensorbased Robotic Motion Planning |
| title_fullStr | A Fuzzy Logic Positional-Based Controller For Sensorbased Robotic Motion Planning |
| title_full_unstemmed | A Fuzzy Logic Positional-Based Controller For Sensorbased Robotic Motion Planning |
| title_short | A Fuzzy Logic Positional-Based Controller For Sensorbased Robotic Motion Planning |
| title_sort | fuzzy logic positional-based controller for sensorbased robotic motion planning |
| url_provider | http://dspace.uniten.edu.my/ |