Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone

作     者：Asita Kumar Rath Dayal R.Parhi Harish Chandra Das Manoj Kumar Muni Priyadarshi Biplab Kumar 

作者机构：Centre of Biomechanical ScienceSiksha O'Anusandhan Deemed to be University Robotics LaboratoryMechanical Engineering DepartmentNational Institute of Technology(India) Mechanical Engineering DepartmentNational Institute of Technology(India) 

出 版 物：《Defence Technology（防务技术）》 (Defence Technology)

年 卷 期：2018年第14卷第6期

页      面：677-682页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：Humanoid robot Navigation Path planning Fuzzy 

摘      要：With the increasing use of humanoid robots in several sectors of industrial automation and manufacturing, navigation and path planning of humanoids has emerged as one of the most promising area of research. In this paper, a navigational controller has been developed for a humanoid by using fuzzy logic as an intelligent algorithm for avoiding the obstacles present in the environment and reach the desired target position safely. Here, the controller has been designed by careful consideration of the navigational parameters by the help of fuzzy rules. The sensory information regarding obstacle distances and bearing angle towards the target are considered as inputs to the controller and necessary velocities for avoiding the obstacles are obtained as outputs. The working of the controller has been tested on a NAO humanoid robot in V-REP simulation platform. To validate the simulation results, an experimental platform has been designed under laboratory conditions, and experimental analysis has been ***, the results obtained from both the environments are compared against each other with a good agreement between them.