Title of article
MOTION MODELLINGUSINGCONCEPTS OF FUZZY ARTIFICIAL POTENTIAL FIELDS
Author/Authors
Motlagh, O. Institute of Advanced Technology - Intelligent Systems and Robotic Laboratory,, Malaysia , Ramli, A.R. Institute of Advanced Technology - Intelligent Systems and Robotic Laboratory, Malaysia , Tang, S.H. Universiti Putra Malaysia - Faculty of Engineering - Department of Mechanical and Manufacturing Engineering, Malaysia , Motlagh, F. Institute of Advanced Technology - Intelligent Systems and Robotic Laboratory, Malaysia , Ismail, N. Universiti Putra Malaysia - Faculty of Engineering - Department of Mechanical and Manufacturing, Malaysia
From page
171
To page
180
Abstract
Artificial potential fields(APF) are well established for reactive navigation of mobile robots. This paper describes a fast and robust fuzzy-APF on an ActivMedia AmigoBot.Obstacle-related information is fuzzified by using sensory fusion, which results in a shorter runtime. In addition, the membership functions of obstacle direction and range have been merged into one function, obtaining a smaller block of rules. The system is tested in virtual environments with non-concave obstacles. Then, the paper describes a new approach to motion modelling where the motion of intelligent travellers is modelled by consecutive path segments. In previous work, the authors described a reliable motion modelling technique using causal inference of fuzzy cognitive maps (FCM) which has been efficiently modified for the purpose of this contribution. Results and analysis are given to demonstrate the efficiency and accuracy of the proposed motion modelling algorithm.
Keywords
Motion Modelling , Artificial Intelligence , Potential Fields
Journal title
International Journal of Automotive and Mechanical Engineering (IJAME)
Journal title
International Journal of Automotive and Mechanical Engineering (IJAME)
Record number
2561659
Link To Document