Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm

被引：95

作者：

Pandey, Anish ^{[1
]}

Parhi, Dayal R. ^{[1
]}

机构：

[1] NIT, Dept Mech Engn, Rourkela, Orissa, India

来源：

DEFENCE TECHNOLOGY | 2017年 / 13卷 / 01期

关键词：

Singleton type-1 fuzzy; Navigation; Wind driven optimization; Membership function; Atmospheric motion; NATURE-INSPIRED OPTIMIZATION; NAVIGATION; TRACKING;

D O I：

10.1016/j.dt.2017.01.001

中图分类号：

T [工业技术];

学科分类号：

120111 [工业工程];

摘要：

This article introduces a singleton type-1 fuzzy logic system (T1-SFLS) controller and Fuzzy-WDO hybrid for the autonomous mobile robot navigation and collision avoidance in an unknown static and dynamic environment. The WDO (Wind Driven Optimization) algorithm is used to optimize and tune the input/output membership function parameters of the fuzzy controller. The WDO algorithm is working based on the atmospheric motion of infinitesimal small air parcels navigates over an N-dimensional search domain. The performance of this proposed technique has compared through many computer simulations and real-time experiments by using Khepera-III mobile robot. As compared to the T1-SFLS controller the Fuzzy-WDO algorithm is found good agreement for mobile robot navigation. (C) 2017 Published by Elsevier Ltd.

引用

页码：47 / 58

页数：12

共 23 条

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Comparative study of soft computing techniques for mobile robot navigation in an unknown environment [J].