Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm
This paper presents a scheme based on Adaptive Neuro-Fuzzy Inference Systems (ANFIS) to generate trajectory for excavator arm. Firstly, the trajectory is predesigned with some specific points in the work space to meet the requirements about the shape. Next, the inverse kinematic is used and optimiza...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/2571243 |
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| _version_ | 1850175182218461184 |
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| author | Nga Thi-Thuy Vu Nam Phuong Tran Nam Hoai Nguyen |
| author_facet | Nga Thi-Thuy Vu Nam Phuong Tran Nam Hoai Nguyen |
| author_sort | Nga Thi-Thuy Vu |
| collection | DOAJ |
| description | This paper presents a scheme based on Adaptive Neuro-Fuzzy Inference Systems (ANFIS) to generate trajectory for excavator arm. Firstly, the trajectory is predesigned with some specific points in the work space to meet the requirements about the shape. Next, the inverse kinematic is used and optimization problems are solved to generate the via-points in the joint space. These via-points are used as training set for ANFIS to synthesis the smooth curve. In this scheme, the outcome trajectory satisfies the requirements about both shape and optimization problems. Moreover, the algorithm is simple in calculation as the numbers of via-points are large. Finally, the simulation is done for two cases to test the effect of ANFIS structure on the generated trajectory. The simulation results demonstrate that, by using suitable structure of ANFIS, the proposed scheme can build the smooth trajectory which has the good matching with desired trajectory even that the desired trajectory has the complicated shape. |
| format | Article |
| id | doaj-art-cf072c24ab5f4487bafafe6603731346 |
| institution | OA Journals |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-cf072c24ab5f4487bafafe66037313462025-08-20T02:19:30ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/25712432571243Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator ArmNga Thi-Thuy Vu0Nam Phuong Tran1Nam Hoai Nguyen2Hanoi University of Science and Technology, VietnamHanoi University of Science and Technology, VietnamHanoi University of Science and Technology, VietnamThis paper presents a scheme based on Adaptive Neuro-Fuzzy Inference Systems (ANFIS) to generate trajectory for excavator arm. Firstly, the trajectory is predesigned with some specific points in the work space to meet the requirements about the shape. Next, the inverse kinematic is used and optimization problems are solved to generate the via-points in the joint space. These via-points are used as training set for ANFIS to synthesis the smooth curve. In this scheme, the outcome trajectory satisfies the requirements about both shape and optimization problems. Moreover, the algorithm is simple in calculation as the numbers of via-points are large. Finally, the simulation is done for two cases to test the effect of ANFIS structure on the generated trajectory. The simulation results demonstrate that, by using suitable structure of ANFIS, the proposed scheme can build the smooth trajectory which has the good matching with desired trajectory even that the desired trajectory has the complicated shape.http://dx.doi.org/10.1155/2018/2571243 |
| spellingShingle | Nga Thi-Thuy Vu Nam Phuong Tran Nam Hoai Nguyen Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm Journal of Robotics |
| title | Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm |
| title_full | Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm |
| title_fullStr | Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm |
| title_full_unstemmed | Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm |
| title_short | Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm |
| title_sort | adaptive neuro fuzzy inference system based path planning for excavator arm |
| url | http://dx.doi.org/10.1155/2018/2571243 |
| work_keys_str_mv | AT ngathithuyvu adaptiveneurofuzzyinferencesystembasedpathplanningforexcavatorarm AT namphuongtran adaptiveneurofuzzyinferencesystembasedpathplanningforexcavatorarm AT namhoainguyen adaptiveneurofuzzyinferencesystembasedpathplanningforexcavatorarm |