PATH FOLLOWING BEHAVIOR FOR AN AUTONOMOUS MOBILE ROBOT
Résumé
In order to achieve tasks by the mobile robots, these robotic systems must have been intelligent and should decide their own
action. To guarantee the autonomy and the intelligence for the path following behavior, it is necessary to use the techniques of
artificial intelligence like the neural networks and the fuzzy logic. This paper presents an approach for the path following task
by an autonomous mobile robot using neural networks and fuzzy logic controllers. The first controller is a Takagi-Sugeno
fuzzy model and the second is a multi-layer neural network. The proposed controllers are used for pursing a moving target.
The results are compared and discussed.
Références
[1] Shuzhi Sam Ge, Frank L. Lewis, ”Autonomous Mobile
Robots, Sensing, Control, Decision, Making and
Applications”, CRC, Taylor and Francis Group, 2006.
[2] F. Cuesta, A. Ollero, Intelligent Mobile Robot
Navigation, Springer-Verlag, Berlin Heidelberg, 2005.
[3] E. Gauthier, ”Utilisation des Réseaux de Neurones
artificiel pour la commande d'un véhicule autonome”.
Thèse de Doctorat, Institut Nationale Polytechnique de
Grenoble, 1999.
[4] H. Maaref, and C. Barret, ”Sensor Based Navigation of
an Autonomous Mobile Robot in an Indoor
Environment”, Control Engineering Practice, Vol. 8,
pp. 757-768, 2000.
[5] Jerry M. Mendel, ”Tutorial: fuzzy logic systems for
engineering”, Proceeding of the IEEE, Vol. 83, No
3,
pp. 345-377, March 1995.
[6] K. M. Passino and S. Yurkovich,”Fuzzy Control”,
Menlo Park: Addison Wesley, 1998.
[7] M. Kadri and al, "Comportement d’évitement
d’obstacles basé sur les réseaux de neurones et la
logique floue pour un robot mobile autonome”, 4th
International Conference on Computer Integrated
Manufacturing, CIP’2007 03-04 November 2007.
[8] A. Chatti, I Ayari, P Borne, M Benrejeb,”On the Use
of Neural Techniques for Path Following Control of a
Car-Like Mobile Robot”, Studies in Informatic and
Control, Vol.14, No.4, December 2005.
[9] A.Saffiotti,” The uses of fuzzy logic for autonomous
robot navigation”, Soft Computing, 1(4): 180-197,
1997.
[10] A. Benmakhlouf, D. Djarah and A. Louchene,” A
Novel Approach for intelligent Control Systems:
Application to a path following By a Mobile Robot”,
International Conference on Electrical Engineering
Design and Technology, Hammamet Tunisia, 2007.
[11] D.Janglová,” Neural Networks in Mobile Robot
Motion”, International Journal of Advanced Robotic
Systems, Vol. 1 No
1, pp. 15-22, 2004.
Robots, Sensing, Control, Decision, Making and
Applications”, CRC, Taylor and Francis Group, 2006.
[2] F. Cuesta, A. Ollero, Intelligent Mobile Robot
Navigation, Springer-Verlag, Berlin Heidelberg, 2005.
[3] E. Gauthier, ”Utilisation des Réseaux de Neurones
artificiel pour la commande d'un véhicule autonome”.
Thèse de Doctorat, Institut Nationale Polytechnique de
Grenoble, 1999.
[4] H. Maaref, and C. Barret, ”Sensor Based Navigation of
an Autonomous Mobile Robot in an Indoor
Environment”, Control Engineering Practice, Vol. 8,
pp. 757-768, 2000.
[5] Jerry M. Mendel, ”Tutorial: fuzzy logic systems for
engineering”, Proceeding of the IEEE, Vol. 83, No
3,
pp. 345-377, March 1995.
[6] K. M. Passino and S. Yurkovich,”Fuzzy Control”,
Menlo Park: Addison Wesley, 1998.
[7] M. Kadri and al, "Comportement d’évitement
d’obstacles basé sur les réseaux de neurones et la
logique floue pour un robot mobile autonome”, 4th
International Conference on Computer Integrated
Manufacturing, CIP’2007 03-04 November 2007.
[8] A. Chatti, I Ayari, P Borne, M Benrejeb,”On the Use
of Neural Techniques for Path Following Control of a
Car-Like Mobile Robot”, Studies in Informatic and
Control, Vol.14, No.4, December 2005.
[9] A.Saffiotti,” The uses of fuzzy logic for autonomous
robot navigation”, Soft Computing, 1(4): 180-197,
1997.
[10] A. Benmakhlouf, D. Djarah and A. Louchene,” A
Novel Approach for intelligent Control Systems:
Application to a path following By a Mobile Robot”,
International Conference on Electrical Engineering
Design and Technology, Hammamet Tunisia, 2007.
[11] D.Janglová,” Neural Networks in Mobile Robot
Motion”, International Journal of Advanced Robotic
Systems, Vol. 1 No
1, pp. 15-22, 2004.
Comment citer
CHERROUN, L.; MECHGOUG, R.; BOUMEHRAZ, M..
PATH FOLLOWING BEHAVIOR FOR AN AUTONOMOUS MOBILE ROBOT.
Courrier du Savoir, [S.l.], v. 12, mai 2014.
ISSN 1112-3338.
Disponible à l'adresse : >https://revues.univ-biskra.dz/index.php/cds/article/view/452>. Date de consultation : 22 déc. 2024
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