International Journal of Intelligent Systems and Applications (IJISA)
IJISA Vol. 6, No. 12, 8 Nov. 2014
Cover page and Table of Contents: PDF (size: 1077KB)
Hybrid Method for the Navigation of Mobile Robot Using Fuzzy Logic and Spiking Neural
Full Text (PDF, 1077KB), PP.1-9
Views: 0 Downloads: 0
Author(s)
Zineb LAOUICI
1,2,*
Mohammed Amine MAMI
1,2
Mohamed Faycal Khelfi
1,2
Index Terms
Mobile Robot, Navigation, Fuzzy Logic, Spiking Neural Networks, Unknown Environment
Abstract
The aim of this paper is to present a strategy describing a hybrid approach for the navigation of a mobile robot in a partially known environment. The main idea is to combine between fuzzy logic approach suitable for the navigation in an unknown environment and spiking neural networks approach for solving the problem of navigation in a known environment. In the literature, many approaches exist for the navigation purpose, for solving separately the problem in both situations. Our idea is based on the fact that we consider a mixed environment, and try to exploit the known environment parts for improving the path and time of navigation between the starting point and the target. The Simulation results, which are shown on two simulated scenarios, indicate that the hybridization improves the performance of robot navigation with regard to path length and the time of navigation.
Cite This Paper
Zineb LAOUICI, Mohammed Amine MAMI, Mohamed Fayçal KHELFI, "Hybrid Method for the Navigation of Mobile Robot Using Fuzzy Logic and Spiking Neural Networks", International Journal of Intelligent Systems and Applications(IJISA), vol.6, no.12, pp.1-9, 2014. DOI:10.5815/ijisa.2014.12.01
Reference
[1]U.Roth, M.Walker, AHillmann, H.Klar, “Dynamic Path Planning with Spiking Neural Networks”, Biological and Artificial Computation: From Neuroscience to Technology, Springer, Volume 1240, 1997, pp 1355-1363 ,1997.
[2]Lebedev DV, Steil JJ, Ritter H. “A New Wave Neural Network Dynamics for Planning Safe Paths of Autonomous Objects in a Dynamically Changing World”. In: Grmela A, Mastorakis NE, eds. Advances in Neural Networks World. WSEAS Press; 2002: 141–146.
[3]Lumelsky, V.J. Stepanov, “Dynamic path planning for a mobile automaton with limited information on the environment”, IEEE Trans. Automat. Contr. 31, 1058–1063, 1986.
[4]A. Yufka, O.Parlaktuna, “Performance comparison of bug algorithms for mobile robots, proceeding of the 5th International Advanced Technologies Symposium (IATS’09), Karabuk, Turkey, May 13-15, 2009.
[5]Ch. Chiang, J.Liu, Y.Chou, “Comparing path length by boundary following fast matching method and bug algorithms for path planning”,Springer-Verlag Berlin Heidelberg, opportunities and Challenges, SCI 214, pp. 303–309.2009
[6]E. Aguirre, A. Gonzalez,”Fuzzy behaviors for mobile robot navigation: design, coordination and fusion”, International Journal of Approximate Reasoning, pp. 255-289, 2000.
[7]W.LI,”Fuzzy-Logic-Based Reactive Behavior Control of an Autonomous Mobile System in Unknown Environments”. EngngApplic. Artif. Intell. Vol. 7, No. 5, pp. 521-531, 1994.
[8]W.LI,”Fuzzy Logic Based Robot Navigation in Uncertain Environments by Multisensor Integration”.Procs. Of the 1994 IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MF1’94) Las Vega, NV Oct. 2-5, 1994.
[9]A. Saffiotti “Fuzzy logic in autonomous robotics: behavior coordination”.Procs. of the int. Conf. on Fuzzy Systems , pp. 573-578 , Barcelona, SP,july 1997.
[10]N. Ouadah, O.Azouaoui, M. Hamerlain ”Implémentation d’un controleur flou pour la navigation d’un robot mobile de type voiture ” MajecSTIC, pp. 237-244 .2005.
[11]A. Hassam, B. Kasmi, M. Boubezoula “Planning of a Trajectory Along with Avoiding the Obstacle Based on Fuzzy Logic Method for a Unicycle Mobile Robot”,The 13 IACIT’2012 Dec.10-13 ISSN:1812-0857
[12]V. Aenugu,P. Woo" Mobile Robot Path Planning with Randomly Moving Obstacles and Goal ", International Journal of Intelligent Systems and Applications, Vol.4, No.2, March 2012 DOI: 10.5815/ijisa.2012.02.01
[13]M.Faisal, R.Hedjar, M.Al Sulaiman, K.Al-Mutib” Fuzzy Logic Navigation and Obstacle Avoidance by a Mobile Robot in an Unknown Dynamic Environment”, International Journal of Advanced Robotic Systems, 2013, Vol. 10, 37:2013
[14]H. Surmann, J. Huser , L.Peters, " A Fuzzy System for Indoor Mobile Robot Navigation", Proc. of the Fourth IEEE Int. Conf. on Fuzzy Systems, pp. 83 - 86, 20 - 24.03.1995, Yokohama, Japan.
[15]A. Fujimori, P.N.Nikiforuk, M.M. Gupta "Adaptive navigation of mobile robots with obstacle avoidance ", IEEE Transaction on robotics and automation, vol. 13, no. 4, august 1997.