Optimal path planning and execution for mobile robots using genetic algorithm and adaptive fuzzy-logic control

被引:185
作者
Bakdi, Azzeddine [1 ,2 ]
Hentout, Abdelfetah [1 ]
Boutami, Hakim [1 ,2 ]
Maoudj, Abderraouf [1 ]
Hachour, Ouarda [2 ]
Bouzouia, Brahim [1 ]
机构
[1] CDTA, DPR, BP 17, Algiers 16303, Algeria
[2] Univ Mhamed Bougara Boumerdes, Inst Elect & Elect Engn IGEE, Blvd Independance, Boumerdes 35000, Algeria
关键词
Mobile robot; Off-line optimal path planning; Path execution; Genetic algorithm; Adaptive fuzzy-logic control; Two-Kinect cameras system; DYNAMIC ENVIRONMENT; CONSTRUCTION; NAVIGATION; ACCURATE; TRACKING; TASK;
D O I
10.1016/j.robot.2016.12.008
中图分类号
TP [自动化技术、计算机技术];
学科分类号
080201 [机械制造及其自动化];
摘要
This paper presents preliminary results of the application of two-Kinect cameras system on a two wheeled indoor mobile robot for off-line optimal path planning and execution. In our approach, the robot makes use of depth information delivered by the vision system to accurately model its surrounding environment through image processing techniques. In addition, a Genetic Algorithm is implemented to generate a collision-free optimal path linking an initial configuration of the mobile robot (Source) to a final configuration (Target). After that, Piecewise Cubic Hermite Interpolating Polynomial is used to smooth the generated optimal path. Finally, an Adaptive Fuzzy-Logic controller is designed to keep track of a mobile robot on the desired smoothed path (by transmitting the appropriate right and left velocities using wireless communication). In parallel, sensor fusion (odometry sensors and Kinect sensors) is used to estimate the current position and orientation of the robot using Kalman filter. The validation of the proposed solution is carried out using the differentially-driven mobile robot, RobuTER, to successfully achieve safe motion (without colliding with obstacles) in an indoor environment. (C) 2016 Elsevier B.V. All rights reserved.
引用
收藏
页码:95 / 109
页数:15
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