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- 저자 : Farah Kamil (검색결과 1 건)
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Farah Kamil,Tang Sai Hong,Weria Khaksar,Norzima Zulkifli,Siti Azfanizam Ahmad 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.1
In robotics, resolution of several difficult issues requires process intelligence. In many applications, theenvironment of a robot changes with time in a manner that has not been foreseen by its designer. Additionally,information on the environment is commonly inaccurate and incomplete, which is attributed to the restricted sensoryactivity of sensors. A new online sensor-based motion planning algorithm, which employs a fuzzy multilayerdecision controller, is proposed in this study to enhance the quality of the next position in terms of safety andoptimality. Fuzzy logic controller (FLC) utilizes the prediction and priority rules of multilayer approach for an effectiveand intelligent proposed method. Moreover, an adaptive neuro-fuzzy inference system (ANFIS) is designed,which constructs and optimizes an FLC using a given dataset of input/output variables. The ANFIS shortens thehigh runtime of fuzzy system, optimizes the parameters of the membership functions of inputs and outputs of thefuzzy-multilayer decision controller, and rearranges the rules to enhance the efficiency of the overall approach. The simulation and comparison results indicate the superiority of the proposed path planning algorithm from otherwell-known algorithms.
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