Author: Beheshteh Hajmahmoudsayeh
Publisher:
ISBN:
Category :
Languages : en
Pages : 110

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Book Description

Author: Mahmut Dirik
Publisher: Springer Nature
ISBN: 3030692477
Category : Technology & Engineering
Languages : en
Pages : 143

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Book Description
The book includes topics, such as: path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control. The theoretical concepts are illustrated with a developed control architecture with soft computing and artificial intelligence methods. The proposed vision-based motion control strategy involves three stages. The first stage consists of the overhead camera calibration and the configuration of the working environment. The second stage consists of a path planning strategy using several traditional path planning algorithms and proposed planning algorithm. The third stage consists of the path tracking process using previously developed Gauss and Decision Tree control approaches and the proposed Type-1 and Type-2 controllers. Two kinematic structures are utilized to acquire the input values of controllers. These are Triangle Shape-Based Controller Design, which was previously developed and Distance-Based Triangle Structure that is used for the first time in conducted experiments. Four different control algorithms, Type-1 fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and Gaussian Control have been used in overall system design. The developed system includes several modules that simplify characterizing the motion control of the robot and ensure that it maintains a safe distance without colliding with any obstacles on the way to the target. The topics of the book are extremely relevant in many areas of research, as well as in education in courses in computer science, electrical and mechanical engineering and in mathematics at the graduate and undergraduate levels.

Author: Viorel Stoian
Publisher:
ISBN: 9789537619176
Category :
Languages : en
Pages :

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Book Description
The section 3 presents a new control method for mobile robots moving in its work field which is based on fuzzy logic and artificial potential field. First, the artificial potential field method is presented. The section treats unconstrained movement based on attractive artificial potential field and after that discuss the constrained movement based on attractive and repulsive artificial potential field. A fuzzy controller is designed. Finally, some applications are presented. The section 4 presents a fuzzy control algorithm for mobile robots which are moving next to the obstacle boundaries, avoiding the collisions with them. Four motion cycles (programs) depending on the proximity levels and followed by the mobile robot on the trajectory (P1, P2, P3, and P4) are shown. The directions of the movements corresponding to every cycle, for every reached proximity level are presented. The sequence of the programs depending on the reached proximity levels is indicated. The motion control algorithm is presented by a flowchart showing the evolution of the functional cycles (programs). The fuzzy rules for evolution (transition) of the programs and for the motion on X-axis and Y-axis respectively are described. The fuzzy controller for the mobile robots based on the algorithm presented above is simple. Finally, some simulations are presented. If the object is like a circle, every program is proper for a quarter of the circle.

Author: Israa Taqa
Publisher: LAP Lambert Academic Publishing
ISBN: 9783659575785
Category :
Languages : en
Pages : 168

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Book Description
The emergence of computational intelligence technology inspired by biological and human intelligence is one of the most exciting and important fields in engineering . It is expected that these technologies like fuzzy logic, will play a significant role in the development of intelligent robotic systems, machine systems, and mechatronics systems . In this work; a Fuzzy Logic Controller is presented to control the motion of a robotic arm and avoid the obstacles existed in its mission road, using a real platform robotic arm in combination with a vision system . This work involves constructing an integrated and autonomic MATLAB program. It could be applicable for any robotic arm . It depends on a new approach in analyzing the robotic environment videos acquired by a fixed webcam. The approach uses colors to detect and recognize the changeable locations and objects' dimensions for each of the robot's end-effector, the goal, and the obstacles .

Author: Jeffrey Richard Burnett
Publisher:
ISBN:
Category :
Languages : en
Pages : 105

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Book Description

Author: Dimiter Driankov
Publisher: Physica
ISBN: 3790818356
Category : Technology & Engineering
Languages : en
Pages : 388

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Book Description
In the past decade a critical mass of work that uses fuzzy logic for autonomous vehicle navigation has been reported. Unfortunately, reports of this work are scattered among conference, workshop, and journal publications that belong to different research communities (fuzzy logic, robotics, artificial intelligence, intelligent control) and it is therefore not easily accessible either to the new comer or to the specialist. As a result, researchers in this area may end up reinventing things while being unaware of important existing work. We believe that research and applications based on fuzzy logic in the field of autonomous vehicle navigation have now reached a sufficient level of maturity, and that it should be suitably reported to the largest possible group of interested practitioners, researches, and students. On these grounds, we have endeavored to collect some of the most representative pieces of work in one volume to be used as a reference. Our aim was to provide a volume which is more than "yet another random collection of papers," and gives the reader some added value with respect to the individual papers. In order to achieve this goal we have aimed at: • Selecting contributions which are representative of a wide range of prob lems and solutions and which have been validated on real robots; and • Setting the individual contributions in a clear framework, that identifies the main problems of autonomous robotics for which solutions based on fuzzy logic have been proposed.

Author: Caihua Xiong
Publisher: Springer
ISBN: 3540885137
Category : Medical
Languages : en
Pages : 1315

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Book Description
These two volumes constitute the refereed proceedings of the First International Conference on Intelligent Robotics and Applications, ICIRA 2008, held in Wuhan, China, in October 2008. The 265 revised full papers presented were thoroughly reviewed and selected from 552 submissions; they are devoted but not limited to robot motion planning and manipulation; robot control; cognitive robotics; rehabilitation robotics; health care and artificial limb; robot learning; robot vision; human-machine interaction & coordination; mobile robotics; micro/nano mechanical systems; manufacturing automation; multi-axis surface machining; realworld applications.

Author: Dimiter Driankov
Publisher: Springer Science & Business Media
ISBN: 3662111314
Category : Technology & Engineering
Languages : en
Pages : 327

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Book Description
Fuzzy controllers are a class of knowledge based controllers using artificial intelligence techniques with origins in fuzzy logic to compute an appropriate control action. These fuzzy knowledge based controllers can be found either as stand-alone control elements or as integral parts of distributed control systems including conventional controllers in a wide range of industrial process control systems and consumer products. Applications of fuzzy controllers have become a well established practice for Japanese manufacturers of control equipment and systems, and are becoming more and more common for their European and American counterparts. The main aim of this book is to show that fuzzy control is not totally ad hoc, that there exist formal techniques for the analysis of a fuzzy controller, and that fuzzy control can be implemented even when no expert knowledge is available. Thus the book is mainly oriented toward control engineers and theorists rather than fuzzy and non-fuzzy AI people. However, parts can be read without any knowledge of control theory and may be of interest to AI people. The book has six chapters. Chapter 1 introduces two major classes of knowledge based systems for closedloop control. Chapter 2 introduces relevant parts of fuzzy set theory and fuzzy logic. Chapter 3 introduces the principal design parameters of a fuzzy knowledge based controller (FKBC) and discusses their relevance with respect to its performance. Chapter 4 considers an FKBC as a particular type of nonlinear controller. Chapter 5 considers tuning and adaptation of FKBCs, which are nonlinear and so can be designed to cope with a certain amount of nonlinearity. Chapter 6 considers several approaches for stability analysis of FKBCs in the context of classical nonlinear dynamic systems theory.

Author: Elmer Dadios
Publisher: BoD – Books on Demand
ISBN: 9535103962
Category : Computers
Languages : en
Pages : 432

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Book Description
This book introduces new concepts and theories of Fuzzy Logic Control for the application and development of robotics and intelligent machines. The book consists of nineteen chapters categorized into 1) Robotics and Electrical Machines 2) Intelligent Control Systems with various applications, and 3) New Fuzzy Logic Concepts and Theories. The intended readers of this book are engineers, researchers, and graduate students interested in fuzzy logic control systems.

Author: F W Lewis
Publisher: CRC Press
ISBN: 9780748405961
Category : Technology & Engineering
Languages : en
Pages : 470

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Book Description
There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.