Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic, Dirik Mahmut, Castillo Oscar, Kocamaz Fatih
Описание: Introduction.- Theory and Background.- Problems Statement.- Methodology.- Simulation Results.- Statistical Analysis and Comparison of Results.
Описание: The dominant theme of this book is to introduce the different path planning methods and present some of the most appropriate ones for robotic routing; methods that are capable of running on a variety of robots and are resistant to disturbances; being real-time, being autonomous, and the ability to identify high-risk areas and risk management are the other features that will be mentioned in the introduction of the methods. The introduction of the profound significance of the robots and delineation of the navigation and routing theme is provided in the first chapter of the book. The second chapter is concerned with the subject of routing in unknown environments. In the first part of this chapter, the family of bug algorithms including are described. In the following, several conventional methods are submitted. The last part of this chapter is dedicated to the introduction of two recently developed routing methods. In Chapter 3, routing is reviewed in the known environment in which the robot either utilizes the created maps by extraneous sources or makes use of the sensor in order to prepare the maps from the local environment. The robot path planning relying on the robot vision sensors and applicable computing hardware are concentrated in the fourth chapter. The first part of this chapter deals with routing methods supported mapping capabilities. The second part manages the routing dependent on the vision sensor, typically known as the best sensor, within the routing subject. The movement of two-dimensional robots with two or three degrees of freedom is analyzed within the third part of this chapter. In Chapter 5, the performance of a few of the foremost important routing methods initiating from the second to fourth chapters is conferred regarding the implementation in various environments. The first part of this chapter is engaged in the implementation of the algorithms Bug1, Bug2, and Distbug on the pioneering robot. In the second part, a theoretical technique is planned to boost the robots performance in line with obstacle collision avoidance. This method, underlying the tangential escape, seeks to proceed with the robot through various obstacles with curved corners. In the third and fourth parts of this chapter, path planning in different environments is preceded in the absence and the presence of danger space. Accordingly, four approaches, named artificial fuzzy potential field, linguistic technique, Markov decision making processes, and fuzzy Markov decision making have been proposed in two following parts and enforced on the Nao humanoid robot.
Автор: Piedad Brox; Iluminada Baturone Castillo; Santiago Название: Fuzzy Logic-Based Algorithms for Video De-Interlacing ISBN: 3642262627 ISBN-13(EAN): 9783642262623 Издательство: Springer Рейтинг: Цена: 20962.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Researchers of the "Fuzzy Logic" group at the Microelectronics Institute of Seville have been studying fuzzy logic since the early 1990s. This book, borne of their efforts, covers the state-of-the-art of fuzzy logic-based algorithms for video de-interlacing.
Описание: This book describes the latest advances in fuzzy logic, neural networks, and optimization algorithms, as well as their hybrid intelligent combinations, and their applications in the areas such as intelligent control, robotics, pattern recognition, medical diagnosis, time series prediction, and optimization.
Описание: Failure Mode and Effect Analysis (FMEA) are used to assess, investigate and predict the Risk Priority Number (RPN) of potential failures within the manufacturing industry. The authors use fuzzy logic as a tool to overcome the vagueness associated with traditional methods of assessing potential failures.
Описание: This book describes the latest advances in fuzzy logic, neural networks, and optimization algorithms, as well as their hybrid intelligent combinations, and their applications in the areas such as intelligent control, robotics, pattern recognition, medical diagnosis, time series prediction, and optimization.
Автор: Cristian Mahulea, Marius Kloetzer, Ramon Gonzalez Название: Path Planning of Cooperative Mobile Robots Using Discrete Event Models ISBN: 1119486327 ISBN-13(EAN): 9781119486329 Издательство: Wiley Рейтинг: Цена: 16466.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание:
Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles
Generating feasible paths or routes between a given starting position and a goal or target position--while avoiding obstacles--is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models--mainly Finite State Automata (FSA) and Petri Nets (PN)--and methods for centralized path planning and control of teams of identical mobile robots.
Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions.
Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also:
Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms
Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox)
Includes simulations for problems solved by methodologies presented in the book
Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.
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