Adaptive Neuro-Fuzzy Technique for Autonomous Ground
نویسندگان
چکیده
This article proposes an adaptive neuro-fuzzy inference system (ANFIS) for solving navigation problems of an autonomous ground vehicle (AGV). The system consists of four ANFIS controllers; two of which are used for regulating both the left and right angular velocities of the AGV in order to reach the target position; and other two ANFIS controllers are used for optimal heading adjustment in order to avoid obstacles. The two velocity controllers receive three sensor inputs: front distance (FD); right distance (RD) and left distance (LD) for the low-level motion control. Two heading controllers deploy the angle difference (AD) between the heading of AGV and the angle to the target to choose the optimal direction. The simulation experiments have been carried out under two different scenarios to investigate the feasibility of the proposed ANFIS technique. The simulation results have been presented using MATLAB software package; showing that ANFIS is capable of performing the navigation and path planning task safely and efficiently in a workspace populated with static obstacles.
منابع مشابه
Adaptive Neuro-Fuzzy Technique for Autonomous Ground Vehicle Navigation
This article proposes an adaptive neuro-fuzzy inference system (ANFIS) for solving navigation problems of an autonomous ground vehicle (AGV). The system consists of four ANFIS controllers; two of which are used for regulating both the left and right angular velocities of the AGV in order to reach the target position; and other two ANFIS controllers are used for optimal heading adjustment in ord...
متن کاملDesign and Simulation of Adaptive Neuro Fuzzy Inference Based Controller for Chaotic Lorenz System
Chaos is a nonlinear behavior that shows chaotic and irregular responses to internal and external stimuli in dynamic systems. This behavior usually appears in systems that are highly sensitive to initial condition. In these systems, stabilization is a highly considerable tool for eliminating aberrant behaviors. In this paper, the problem of stabilization and tracking the chaos are investigated....
متن کاملAdaptive neuro-fuzzy inference system (ANFIS) applied for spectrophotometric determination of fluoxetine and sertraline in pharmaceutical formulations and biological fluid
The UV-spectrophotometric method of analysis was proposed for simultaneous determination of fluoxetine (FLX) and sertraline (SRT). Considering the strong spectral overlap between UV-Vis spectra of these compounds, a previous separation should be carried out in order to determine them by conventional spectrophotometric techniques. Here, full-spectrum multivariate calibrations adaptive neuro-fuzz...
متن کاملADAPTIVE NEURO FUZZY INFERENCE SYSTEM BASED ON FUZZY C–MEANS CLUSTERING ALGORITHM, A TECHNIQUE FOR ESTIMATION OF TBM PENETRATION RATE
The tunnel boring machine (TBM) penetration rate estimation is one of the crucial and complex tasks encountered frequently to excavate the mechanical tunnels. Estimating the machine penetration rate may reduce the risks related to high capital costs typical for excavation operation. Thus establishing a relationship between rock properties and TBM pe...
متن کاملA New Intelligent Motion Planning for Mobile Robot Navigation using Multiple Adaptive Neuro-Fuzzy Inference System
Nowadays intelligent tools such as fuzzy inference system (FIS), artificial neural network (ANN) and adaptive neuro-fuzzy inference system (ANFIS) are mainly considered as effective and suitable methods for modeling an engineering system. This paper presents a new hybrid technique based on the combination of fuzzy inference system and artificial neural network for addressing navigational proble...
متن کامل