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r.active Navigation of Under.ater.Mobile r.bot Using ANFIS Appr.ach in a Manifold Manner

Inter.ational Jour.al of Automation and computing 2017年第3期14卷 307-320页

作者： Shubhasr. Kundu dayal r. parhi r.botics Lab Department of Mechanical Engineering Rourkela National Institute of Technology Rourkela 769008 India

Lear.ing and self-adaptation ability is highly r.quir.d to be integr.ted in path planning algor.thm for.under.ater.r.bot dur.ng navigation thr.ugh an unspecified under.ater.envir.nment. High fr.quency oscillations dur.ng under.ater.motion ar. r.sponsible for.nonlinear.ties in dynamic behavior.of under.ater.r.bot as well as uncer.ainties in hydr.dynamic coefficients. r.active behavior. of under.ater.r.bot ar. designed consider.ng the position and or.entation of both tar.et and near.st obstacle fr.m r.bot s cur.ent position. Human like r.asoning power.and appr.ximation based lear.ing skill of neur.l based adaptive fuzzy infer.nce system（ANFIS）has been found to be effective for.under.ater.multivar.able motion contr.l. Mor. than one ANFIS models ar. used her. for.achieving goal and obstacle avoidance while avoiding local minima situation in both hor.zontal and ver.ical plane of thr.e dimensional *** er.or.gr.dient appr.ach based on input-output tr.ining patter.s for.lear.ing pur.ose has been pr.moted to spawn tr.jector. of under.ater.r.bot optimizing path length as well as time taken. The simulation and exper.mental r.sults endor.e stur.iness and viability of the pr.posed method in compar.son with other.navigational methodologies to negotiate with hectic conditions dur.ng motion of under.ater.mobile r.bot.

关键词： Adaptive fuzzy infer.nce system(ANFIS) er.or.gr.dient optimal path obstacle avoidance behavior.steer.ng angle tar.et seeking behavior

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An Appr.ach to Optimize the Path of Humanoids using Adaptive Ant Colony Optimization

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Jour.al of Bionic Engineer.ng 2018年第4期15卷 623-635页

作者： Chinmaya Sahu dayal r. parhi Pr.yadar.hi Biplab Kumar r.botics Labor.tor. Mechanical Engineering Department National Institute of Technology Rourkela-769008 Odisha India

In the emer.ing ar.a of humanoid r.botics, path planning and autonomous navigation have evolved as one of the most pr.mising ar.a of r.sear.h. This paper.deals with the design and development of a novel navigational contr.ller.to guide humanoids in clutter.d envi- r.nments. The basic par.meter. of the ant colony optimization technique have been modified to have enhanced contr.l as Adaptive Ant Colony Optimization （AACO）. The contr.ller.that has been implemented in the humanoids r.ceives sensor. infor.ation about obstacle distances as inputs and pr.vides r.quir.d tur.ing angle as output to r.ach the specified tar.et position. The pr.posed contr.ller.has been tested in both simulated and exper.mental envir.nments cr.ated tr.der.labor.tor. conditions, and a good agr.ement has been obser.ed between the simulation and exper.ment r.sults. Her., both static and dynamic path planning have been attempted. Finally, the pr.posed contr.ller.has also been tested against other.existing techniques to validate the efficiency of the AACO in path planning pr.blems.

关键词： navigation path planning humanoid r.bot AACO Petr.-net bionics

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Optimum path planning of mobile r.bot in unknown static and dynamic envir.nments using Fuzzy-Wind Dr.ven Optimization algor.thm

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Defence Technology（防务技术） 2017年第1期13卷 47-58页

作者： Anish Pandey dayal r.parhi Mechanical Engineer.ng Depar.ment N.I.T.RourkelaOrissaIndia

This ar.icle intr.duces a singleton type-1 fuzzy logic system(T1-SFLS) contr.ller.and Fuzzy-WDO hybr.d for.the autonomous mobile r.bot navigation and collision avoidance in an unknown static and dynamic envir.nment. The WDO(Wind Dr.ven Optimization) algor.thm is used to optimize and tune the input/output member.hip function par.meter. of the fuzzy contr.ller. The WDO algor.thm is wor.ing based on the atmospher.c motion of infinitesimal small air.par.els navigates over.an N-dimensional sear.h domain. The per.or.ance of this pr.posed technique has compar.d thr.ugh many computer.simulations and r.al-time exper.ments by using Kheper.-Ⅲ mobile r.bot. As compar.d to the T1-SFLS contr.ller.the Fuzzy-WDO algor.thm is found good agr.ement for.mobile r.bot navigation.

关键词： Singleton type-1 fuzzy Navigation Wind dr.ven optimization Member.hip function Atmospher.c motion

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Analysis and use of fuzzy intelligent technique for.navigation of humanoid r.bot in obstacle pr.ne zone

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Defence Technology（防务技术） 2018年第6期14卷 677-682页

作者： Asita Kumar.r.th dayal r.parhi Har.sh Chandr. Das Manoj Kumar.Muni Pr.yadar.hi Biplab Kumar Centr. of Biomechanical Science Siksha O'Anusandhan Deemed to be University r.botics Labor.tor. Mechanical Engineering DepartmentNational Institute of Technology(India) Mechanical Engineer.ng Depar.ment National Institute of Technology(India)

With the incr.asing use of humanoid r.bots in sever.l sector. of industr.al automation and manufactur.ng, navigation and path planning of humanoids has emer.ed as one of the most pr.mising ar.a of r.sear.h. In this paper. a navigational contr.ller.has been developed for.a humanoid by using fuzzy logic as an intelligent algor.thm for.avoiding the obstacles pr.sent in the envir.nment and r.ach the desir.d tar.et position safely. Her., the contr.ller.has been designed by car.ful consider.tion of the navigational par.meter. by the help of fuzzy r.les. The sensor. infor.ation r.gar.ing obstacle distances and bear.ng angle towar.s the tar.et ar. consider.d as inputs to the contr.ller.and necessar. velocities for.avoiding the obstacles ar. obtained as outputs. The wor.ing of the contr.ller.has been tested on a NAO humanoid r.bot in V-r.P simulation platfor.. To validate the simulation r.sults, an exper.mental platfor. has been designed under.labor.tor. conditions, and exper.mental analysis has been ***, the r.sults obtained fr.m both the envir.nments ar. compar.d against each other.with a good agr.ement between them.

关键词： Humanoid r.bot Navigation Path planning Fuzzy

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