Design of a Hierarchical Fuzzy Control System to Guide the Robot and Prevent Collisions with Obstacles
Among the advantages of utilizing fuzzy control as an intelligent controller, one can name the elimination of the need for repetitive calculations as well as the ability to use the experience of experts in controlling the robots' motions in uncharted environments. Instead of solving an optimiza...
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Semnan University
2024-10-01
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| Series: | مجله مدل سازی در مهندسی |
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| Online Access: | https://modelling.semnan.ac.ir/article_8518_094e968e5b0161fca71371545706f38c.pdf |
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| author | Alireza Makvandi Hesam Makvandi Sayed Ehsan Alavi |
| author_facet | Alireza Makvandi Hesam Makvandi Sayed Ehsan Alavi |
| author_sort | Alireza Makvandi |
| collection | DOAJ |
| description | Among the advantages of utilizing fuzzy control as an intelligent controller, one can name the elimination of the need for repetitive calculations as well as the ability to use the experience of experts in controlling the robots' motions in uncharted environments. Instead of solving an optimization problem or formulating rules, the fuzzy control method can transfer these rules irregularly to a robot or a group of robots. The fuzzy controller proposed in the current contribution consists of three agents: A robot navigation agent, which helps the robot reach the target point using a fuzzy-based controller, an obstacle avoidance agent which exploits a hierarchical fuzzy control to keep the robot away from obstructions, and a perception agent that employs eight sensors to provide the required information concerning the environment. A value function is proposed to coordinate the aforementioned factors eliminating possible conflict scenarios. The simulation results confirm the effectiveness and efficiency of the proposed approach. Moreover, it is shown that the robot can reach the target point without colliding with obstacles. |
| format | Article |
| id | doaj-art-aca5bf48963048a0925217a9671c438a |
| institution | Kabale University |
| issn | 2008-4854 2783-2538 |
| language | fas |
| publishDate | 2024-10-01 |
| publisher | Semnan University |
| record_format | Article |
| series | مجله مدل سازی در مهندسی |
| spelling | doaj-art-aca5bf48963048a0925217a9671c438a2025-01-15T08:16:46ZfasSemnan Universityمجله مدل سازی در مهندسی2008-48542783-25382024-10-01227831732710.22075/jme.2024.26135.22188518Design of a Hierarchical Fuzzy Control System to Guide the Robot and Prevent Collisions with ObstaclesAlireza Makvandi0Hesam Makvandi1Sayed Ehsan Alavi2MSc Student, Department of Engineering, Abadan Branch, Islamic Azad University, Abadan, IranAssistant Professor, Department of Engineering, Abadan Branch, Islamic Azad University, Abadan, IranAssistant Professor, Faculty of Engineering, Shohadaye Hoveizeh Campus of Technology, Shahid Chamran University of Ahvaz, DashteAzadegan, IranAmong the advantages of utilizing fuzzy control as an intelligent controller, one can name the elimination of the need for repetitive calculations as well as the ability to use the experience of experts in controlling the robots' motions in uncharted environments. Instead of solving an optimization problem or formulating rules, the fuzzy control method can transfer these rules irregularly to a robot or a group of robots. The fuzzy controller proposed in the current contribution consists of three agents: A robot navigation agent, which helps the robot reach the target point using a fuzzy-based controller, an obstacle avoidance agent which exploits a hierarchical fuzzy control to keep the robot away from obstructions, and a perception agent that employs eight sensors to provide the required information concerning the environment. A value function is proposed to coordinate the aforementioned factors eliminating possible conflict scenarios. The simulation results confirm the effectiveness and efficiency of the proposed approach. Moreover, it is shown that the robot can reach the target point without colliding with obstacles.https://modelling.semnan.ac.ir/article_8518_094e968e5b0161fca71371545706f38c.pdfsmart routinghierarchical fuzzy controlmobile robotvalue functionfuzzy control type ii |
| spellingShingle | Alireza Makvandi Hesam Makvandi Sayed Ehsan Alavi Design of a Hierarchical Fuzzy Control System to Guide the Robot and Prevent Collisions with Obstacles مجله مدل سازی در مهندسی smart routing hierarchical fuzzy control mobile robot value function fuzzy control type ii |
| title | Design of a Hierarchical Fuzzy Control System to Guide the Robot and Prevent Collisions with Obstacles |
| title_full | Design of a Hierarchical Fuzzy Control System to Guide the Robot and Prevent Collisions with Obstacles |
| title_fullStr | Design of a Hierarchical Fuzzy Control System to Guide the Robot and Prevent Collisions with Obstacles |
| title_full_unstemmed | Design of a Hierarchical Fuzzy Control System to Guide the Robot and Prevent Collisions with Obstacles |
| title_short | Design of a Hierarchical Fuzzy Control System to Guide the Robot and Prevent Collisions with Obstacles |
| title_sort | design of a hierarchical fuzzy control system to guide the robot and prevent collisions with obstacles |
| topic | smart routing hierarchical fuzzy control mobile robot value function fuzzy control type ii |
| url | https://modelling.semnan.ac.ir/article_8518_094e968e5b0161fca71371545706f38c.pdf |
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