scholarly journals Action Selection and Obstacle Avoidance Using Ultrasonic and Infrared Sensors

10.5772/5462 ◽  
2008 ◽  
Author(s):  
Fernando Montes-Gonzalez ◽  
Daniel Flandes-Eusebio ◽  
Luis Pellegrin-
Keyword(s):  
Obstacle Avoidance ◽  
Action Selection ◽  
Infrared Sensors

Autonomous omnidirectional mobile robot navigation based on hierarchical fuzzy systems

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Najla Krichen ◽  
Mohamed Slim Masmoudi ◽  
Nabil Derbel
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Fuzzy Systems ◽  
Fuzzy Controller ◽  
Fuzzy Rules ◽  
Infrared Sensors ◽  
Content Type ◽  
Omnidirectional Mobile Robot ◽  
Simulation Results ◽  
Hierarchical Fuzzy Systems

Purpose This paper aims to propose a one-layer Mamdani hierarchical fuzzy system (HFS) to navigate autonomously an omnidirectional mobile robot to a target with a desired angle in unstructured environment. To avoid collision with unknown obstacles, Mamdani limpid hierarchical fuzzy systems (LHFS) are developed based on infrared sensors information and providing the appropriate linear speed controls. Design/methodology/approach The one-layer Mamdani HFS scheme consists of three fuzzy logic units corresponding to each degree of freedom of the holonomic mobile robot. This structure makes it possible to navigate with an optimized number of rules. Mamdani LHFS for obstacle avoidance consists of a number of fuzzy logic units of low dimension connected in a hierarchical structure. Hence, Mamdani LHFS has the advantage of optimizing the number of fuzzy rules compared to a standard fuzzy controller. Based on sensors information inputs of the Mamdani LHFS, appropriate linear speed controls are generated to avoid collision with static obstacles. Findings Simulation results are performed with MATLAB software in interaction with the environment test tool “Robotino Sim.” Experiments have been done on an omnidirectional mobile robot “Robotino.” Simulation results show that the proposed approaches lead to satisfied performances in navigation between static obstacles to reach the target with a desired angle and have the advantage that the total number of fuzzy rules is greatly reduced. Experimental results prove the efficiency and the validity of the proposed approaches for the navigation problem and obstacle avoidance collisions. Originality/value By comparing simulation results of the proposed Mamdani HFS to another navigational controller, it was found that it provides better results in terms of path length in the same environment. Moreover, it has the advantage that the number of fuzzy rules is greatly reduced compared to a standard Mamdani fuzzy controller. The use of Mamdani LHFS in obstacle avoidance greatly reduces the number of involved fuzzy rules and overcomes the complexity of high dimensionality of the infrared sensors data information.

Autonomous Navigation and Obstacle Avoidance

2009 ◽  
Author(s):  
Jesse Berger ◽  
Cory Carson ◽  
Massood Towhidnejad ◽  
Richard Stansbury
Keyword(s):  
Obstacle Avoidance ◽  
Autonomous Navigation

Sistem Pendukung Keputusan SNMPTN Jalur Undangan Dengan Metode Electre

2018 ◽  
Vol 3 ◽  
pp. 14
Author(s):  
Lidia K Simanjuntak ◽  
Tessa Y M Sihite ◽  
Mesran Mesran ◽  
Nuning Kurniasih ◽  
Yuhandri Yuhandri
Keyword(s):  
Decision Making ◽  
Decision Support ◽  
Decision Support System ◽  
Support System ◽  
Action Selection ◽  
Multi Criteria Decision Making ◽  
Prospective Students ◽  
College Entrance ◽  
Electre Method ◽  
Selection Of

All colleges each year organize the selection of new admissions. Acceptance of prospective students in universities as education providers is done by selecting prospective students based on achievement in school and college entrance selection. To select the best student candidates based on predetermined criteria, then use Multi-Criteria Decision Making (MCDM) or commonly called decision support system. One method in MCDM is the Elimination Et Choix Traduisant la Reality (ELECTRE). The ELECTRE method is the best method of action selection. The ELECTRE method to obtain the best alternative by eliminating alternative that do not fit the criteria and can be applied to the decision SNMPTN invitation path.

Irradiance Calibration of Space-Based Infrared Sensors

2000 ◽  
Author(s):  
Russell G. Walker ◽  
Martin Cohen
Keyword(s):  
Infrared Sensors
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