Optimal path planning and execution for mobile robots using genetic algorithm and adaptive fuzzy-logic control
作者: Azzeddine BakdiAbdelfetah HentoutHakim BoutamiAbderraouf MaoudjOuarda HachourBrahim Bouzouia
作者单位: 1Centre de Développement des Technologies Avancées (CDTA), Division Productique et Robotique (DPR), BP 17, Baba Hassen, Algiers 16303, Algeria
2University M’hamed Bougara de Boumerdès (UMBB), Institute of Electrical and Electronic Engineering (IGEE), Boulevard de l’Indépendance, Boumerdès 35000, Algeria
刊名: Robotics and Autonomous Systems, 2017, Vol.89 , pp.95-109
来源数据库: Elsevier Journal
DOI: 10.1016/j.robot.2016.12.008
关键词: Mobile robotOff-line optimal path planningPath executionGenetic algorithmAdaptive fuzzy-logic controlTwo-Kinect cameras system
原始语种摘要: Abstract(#br)This paper presents preliminary results of the application of two-Kinect cameras system on a two-wheeled indoor mobile robot for off-line optimal path planning and execution. In our approach, the robot makes use of depth information delivered by the vision system to accurately model its surrounding environment through image processing techniques. In addition, a Genetic Algorithm is implemented to generate a collision-free optimal path linking an initial configuration of the mobile robot ( Source ) to a final configuration ( Target ). After that, Piecewise Cubic Hermite Interpolating Polynomial is used to smooth the generated optimal path. Finally, an Adaptive Fuzzy-Logic controller is designed to keep track of a mobile robot on the desired smoothed path (by transmitting the...
全文获取路径: Elsevier  (合作)
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影响因子:1.156 (2012)

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关键词翻译
关键词翻译
  • robot 机扑
  • mobile 可动的
  • fuzzy 模糊的
  • execution 执行
  • planning 计划
  • path 小路
  • wheeled 有轮的
  • algorithm 算法
  • adaptive 适应的
  • logic 逻辑