Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system
Adaptive control systems; Controllers; Fuzzy neural networks; Fuzzy systems; Motion planning; Robot programming; Robots; Tabu search; Adaptive neuro fuzzy inference systems (ANFIS); Adaptive neuro-fuzzy inference system; ANFIS; Fuzzy controllers; Motion planning algorithms; Sampling-based algorithms...
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2023
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my.uniten.dspace-247842023-05-29T15:27:00Z Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system Khaksar W. Hong T.S. Sahari K.S.M. Khaksar M. Torresen J. 54960984900 8231495000 57218170038 55350135000 6602518300 Adaptive control systems; Controllers; Fuzzy neural networks; Fuzzy systems; Motion planning; Robot programming; Robots; Tabu search; Adaptive neuro fuzzy inference systems (ANFIS); Adaptive neuro-fuzzy inference system; ANFIS; Fuzzy controllers; Motion planning algorithms; Sampling-based algorithms; Sampling-based motion planning; Unknown environments; Fuzzy inference Despite the proven advantages of sampling-based motion planning algorithms, their inability to handle online navigation tasks and providing low-cost solutions make them less efficient in practice. In this paper, a novel sampling-based algorithm is proposed which is able to plan in an unknown environment and provides solutions with lower cost in terms of path length, runtime and stability of the results. First, a fuzzy controller is designed which incorporates the heuristic rules of Tabu search to enable the planner for solving online navigation tasks. Then, an adaptive neuro-fuzzy inference system (ANFIS) is proposed such that it constructs and optimizes the fuzzy controller based on a set of given input/output data. Furthermore, a heuristic dataset generator is implemented to provide enough data for the ANFIS using a randomized procedure. The performance of the proposed algorithm is evaluated through simulation in different motion planning queries. Finally, the proposed planner is compared to some of the similar motion planning algorithms to support the claim of superiority of its performance. � 2017, The Natural Computing Applications Forum. Final 2023-05-29T07:27:00Z 2023-05-29T07:27:00Z 2019 Article 10.1007/s00521-017-3069-6 2-s2.0-85025161177 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85025161177&doi=10.1007%2fs00521-017-3069-6&partnerID=40&md5=e8bc23be0e7962aa4107b82f199b0302 https://irepository.uniten.edu.my/handle/123456789/24784 31 1275 1289 Springer London Scopus |
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Adaptive control systems; Controllers; Fuzzy neural networks; Fuzzy systems; Motion planning; Robot programming; Robots; Tabu search; Adaptive neuro fuzzy inference systems (ANFIS); Adaptive neuro-fuzzy inference system; ANFIS; Fuzzy controllers; Motion planning algorithms; Sampling-based algorithms; Sampling-based motion planning; Unknown environments; Fuzzy inference |
| author2 |
54960984900 |
| author_facet |
54960984900 Khaksar W. Hong T.S. Sahari K.S.M. Khaksar M. Torresen J. |
| format |
Article |
| author |
Khaksar W. Hong T.S. Sahari K.S.M. Khaksar M. Torresen J. |
| spellingShingle |
Khaksar W. Hong T.S. Sahari K.S.M. Khaksar M. Torresen J. Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system |
| author_sort |
Khaksar W. |
| title |
Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system |
| title_short |
Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system |
| title_full |
Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system |
| title_fullStr |
Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system |
| title_full_unstemmed |
Sampling-based online motion planning for mobile robots: utilization of Tabu search and adaptive neuro-fuzzy inference system |
| title_sort |
sampling-based online motion planning for mobile robots: utilization of tabu search and adaptive neuro-fuzzy inference system |
| publisher |
Springer London |
| publishDate |
2023 |
| _version_ |
1806427346250498048 |
| score |
13.214268 |