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Adaptive neuro-fuzzy control of autonomous ground vehicle (AGV) based on machine vision
Joint Authors
Farahat, Hasan
Farid, Samih
Mahmud, Usamah E.
Source
Issue
Vol. 2019, Issue 163 (30 Sep. 2019), pp.15-29, 15 p.
Publisher
Helwan University Faculty of Engineering Mataria
Publication Date
2019-09-30
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Information Technology and Computer Science
Topics
Abstract EN
Development of self-autonomous robot that has the capability to deal with dynamic obstacles as well as static obstacles and keep finding its optimal path represent big challenge to many of the researchers nowadays.
Utilization of artificial intelligence (AI) in developing a robust algorithm for nonlinear system was proved in some applications.
The present work focus on excessive analysis and investigation of the optimal AI algorithm technique for controlling the path planning of four -wheel autonomous robot to achieve its set target through both static and dynamic obstacles with the optimal path without human interference.
Fuzzy logic, Neural Network, and Adaptive Neuro-Fuzzy Inference System (ANFIS) were tested and evaluated as controlling algorithm for this navigation task.
The performance evaluation was done both theoretically and experimentally using vision-based feedback sensor, Kinect camera, on a real four-wheel mobile robot.
Results prove that ANFIS successfully control the automatic path planning of the robot with the optimal path by reaching its target with % 48.01 less than Neural Network and % 58.51 less than Fuzzy Logic.
ANFIS controller also has given safer path as well as flexible obstacles avoidance through its path to final destination with smooth time-efficient path in the cluttered environment.
American Psychological Association (APA)
Farahat, Hasan& Farid, Samih& Mahmud, Usamah E.. 2019. Adaptive neuro-fuzzy control of autonomous ground vehicle (AGV) based on machine vision. Engineering Research Journal،Vol. 2019, no. 163, pp.15-29.
https://search.emarefa.net/detail/BIM-1364753
Modern Language Association (MLA)
Farahat, Hasan…[et al.]. Adaptive neuro-fuzzy control of autonomous ground vehicle (AGV) based on machine vision. Engineering Research Journal No. 163 (Sep. 2019), pp.15-29.
https://search.emarefa.net/detail/BIM-1364753
American Medical Association (AMA)
Farahat, Hasan& Farid, Samih& Mahmud, Usamah E.. Adaptive neuro-fuzzy control of autonomous ground vehicle (AGV) based on machine vision. Engineering Research Journal. 2019. Vol. 2019, no. 163, pp.15-29.
https://search.emarefa.net/detail/BIM-1364753
Data Type
Journal Articles
Language
English
Notes
-
Record ID
BIM-1364753