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Optimal trajectory of a mobile robot by a Genetic design Fuzzy logic controller

Optimal trajectory of a mobile robot by a Genetic Design Fuz...

引用

International Conference on Advances in Computational Tools for Engineering Applications, ACTEA

作者： Chokri Rekik Mohamed Jallouli Nabil Derbel Research unit on Intelligent Control design & Optimization of complex Systems Sfax Engineering School University of Sfax Sfax Tunisia

Obstacle avoidance and path planning are the most important problems in mobile robots. Besides, finding methods for controlling and decreasing the real robot error in path have been another target for researchers investigation. Usual methods have two separated parts, research target and path planning with obstacle avoidance. In this context, a fuzzy logic controller has been constructed in order to train an intelligent robot. Genetic algorithms are used to optimize the consequences of a Sugeno fuzzy logic optimal controller for the mobile robot navigation. This is to search a target in an environment with and without obstacles. Simulation results verify successful applications of method for real motion situations. An application have been effected in the Khepera robot demonstrating. The Khepera robot can go to the goal and avoid the obstacles successfully.

关键词： Mobile robots Fuzzy logic Optimal control Genetic algorithms Virtual reality Navigation Wheels Path planning Robot control Motion control

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Robust and stable indirect fuzzy adaptive control for SISO nonlinear systems

Robust and stable indirect fuzzy adaptive control for SISO n...

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： D. Ben Halima M. Chtourou Research Unit on Intelligent Control design and Optimization of complex Systems (ICOS) National School of Engineers of Sfax Sfax Tunisia

An adaptive fuzzy controller is constructed from a collection of fuzzy IF-THEN rules whose parameters are changed or adapted according to adaptive laws for the purpose of controlling a nonlinear plant to track a reference trajectory. The fuzzy adaptive control is composed in two classes: direct and indirect one. The indirect fuzzy adaptive controller will be designed through two steps. The first one consists in the construction of a controller based on linguistic description about the unknown plant from human expert. To guaranty stability, a supervisory controller is added. The second step adjusts, on line, the parameters of the fuzzy controller based on the gradient descend. To ensure the robustness, fuzzy controller parameters are adjusted, on line, by a robust gradient descent method. Simulation results show the effectiveness of proposed algorithms in tracking of the inverse pendulum output.

关键词： Robust control Fuzzy control Fuzzy systems Adaptive control Nonlinear systems Programmable control Adaptive systems Trajectory Humans Stability

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A hybrid evolutionary design of neuro-fuzzy systems

A hybrid evolutionary design of neuro-fuzzy systems

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： R. El Hamdi M. Njah M. Chtourou Research unit on Intelligent Control design & Optimization of complex Systems Sfax Engineering School University of Sfax Sfax Tunisia

In this paper, a hybrid evolutionary approach, combining the theory of learning automata (LA) and the steady-state genetic algorithm (SSGA), is proposed for design of TSKtype fuzzy model (TFM). In the proposed memetic approach, both the number of fuzzy rules and adjustable parameters in the TFM are designed concurrently. A learning automaton, which systematically updates a strategy to enhance the performance in response to the output results, is used to find the optimal number of rules, whereas the SSGA is used to perform the tuning of the TFM parameters. Computer simulations have demonstrated that the proposed hybrid method performs better than some existing methods.

关键词： Biological cells Legged locomotion

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Real time localisation of a mobile robot using Webcam data

Real time localisation of a mobile robot using Webcam data

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： L. Amouri M. Jallouli N. Derbel Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Engineering School of Sfax (ENIS) Sfax Tunisia

Localization is one of the most important functions for the mobile robot navigation. Most of previous position estimation methods calculate current position and orientation of mobile robot by applying various localization schemes with the information obtained from internal sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the environment. Several drawbacks about them have been brought up. To avoid these inconvenient, a new localization method that calculate in real time the absolute position of the mobile robot by using external camera fixed on the ceiling in the indoor environment is proposed. Besides, this approach provide a low expensive solution using a Webcam. The effectiveness of the proposed localization algorithm is demonstrated through the experiments.

关键词： Robots Robot kinematics Mobile robots Sensors Robot sensing systems Trajectory Wheels

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Optimized fuzzy controller for mobile robot navigation in a cluttered environment

Optimized fuzzy controller for mobile robot navigation in a ...

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Najah Yousfi Chokri Rekik Mohamed Jallouli Nabil Derbel Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Engineering School Sfax BP W Tunisia

Obstacle avoidance and path planning are the most important problems in mobile robots. In this paper, a fuzzy logic controller has been constructed in order to train an intelligent robot. Gradient method is used to optimize consequences of a Sugeno fuzzy logic controller for the mobile robot navigation, in order to reach a target in a clutterd environment. Not only simulation results are shown in this paper, but also the “real-time” implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.

关键词： Robot sensing systems Mobile communication Argon optimization Trajectory

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Integrated genetic algorithms and fuzzy control approach for optimization mobile robot navigation

Integrated genetic algorithms and fuzzy control approach for...

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Chokri Rekik Mohamed Jallouli Nabil Derbel Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Engineering School University of Sfax Sfax Tunisia

This paper presents an optimal fuzzy logic controller design using optimization techniques. The fuzzy logic controller (FLC) has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the kinematic constraints. First, we have carried out a simulation of a fuzzy logic based controller which determines the speed values of each driving wheel, while seeking the goal. Secondly, an optimization of this controller has been realized using gradient method and genetic algorithms. A comparison between these methods has been effected. Not only simulation results are shown in this paper, but the ldquoreal-timerdquo implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.

关键词： Genetic algorithms Fuzzy control Mobile robots Navigation Fuzzy logic Optimal control design optimization Motion control Kinematics Wheels

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Robust fuzzy PID controller for discrete-time uncertain nonlinear systems

Robust fuzzy PID controller for discrete-time uncertain nonl...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Amira Aydi Imen Zaidi Mohamed Djemel Mohamed Chtourou Research unit of Intelligent Control design and Optimization of complex Systems (ICOS) National Engineering School of Sfax (ENIS) Sfax Tunisia

This paper presents a design method of robust fuzzy PID controller for discrete-time uncertain nonlinear systems. The Takagi-Sugeno fuzzy model with parameter uncertainties is employed to describe discrete-time uncertain nonlinear system with bounded uncertainties. A robust pole placement called pole coloring is used to control each local model. controller parameters are determined through cost function minimization by an optimization procedure. Closed-loop system's poles are chosen according to desired performance. The global controller is obtained by local control inference. Finally, two examples are treated to illustrate the effectiveness of the proposed design method.

关键词： Robust control Fuzzy control Fuzzy systems Three-term control Nonlinear control systems control systems Nonlinear systems design methodology Takagi-Sugeno model Uncertain systems

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An evolutionary neuro-fuzzy approach to breast cancer diagnosis

An evolutionary neuro-fuzzy approach to breast cancer diagno...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： R. El Hamdi M. Njah M. Chtourou Research Unit on Intelligent Control Design & Optimization of Complex Systems (ICOS) Sfax Engineering School University of Sfax Sfax Tunisia

The important role that mammography is playing in breast cancer detection can be attributed largely to the technical improvements and dedication of radiologists to breast imaging. A lot of work is being done to ensure that these diagnosing steps are becoming smoother, faster and more accurate in classifying whether the abnormalities seen in mammogram images are benign or malignant. In this paper, an evolutionary approach for design of TSK-type fuzzy model (TFM) is proposed to solve the breast cancer diagnosis problem. In the proposed method, both the number of fuzzy rules and adjustable parameters in the TFM are designed concurrently combining the compact genetic algorithm (CGA) and the steady-state genetic algorithm (SSGA). The computational experiments show that the presented approach can obtain better generalization than some existing methods reported recently in the literature using the widely accepted Wisconsin breast cancer diagnosis (WBCD) database.

关键词： Breast Niobium Databases Cancer

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Synchronization control of multiple robots manipulators

Synchronization control of multiple robots manipulators

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Yassine Bouteraa Jawhar Ghommam Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) National Engineering School of Sfax (ENIS) Sfax Tunisia

This paper develops a new control approach to position synchronization of multiple robot manipulators based on emergent consensus algorithms. The proposed strategy only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of any explicit leaders in the team. The control strategy is to stabilise position tracking of each manipulator while synchronizing its motion with other manipulator's position motion so that differential position errors amongst robots converge to zero. Simulations conducted on a multi-robots manipulators motion control system demonstrate the effectiveness of the method.

关键词： Robot control Robot kinematics Motion control Orbital robotics Manipulator dynamics control systems intelligent robots Communication system control Automatic control Production systems

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Synthesis of a fuzzy controller for the navigation of an electricwheelchair for handicapped

Synthesis of a fuzzy controller for the navigation of an ele...

引用

IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Malek Njah Mohamed Jallouli Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Engineering School University of Sfax Sfax Tunisia

Many researchers are interested in electric wheelchair automation because of the mobility problemsmet by a certain number of disabled and aged people. In this paper, we propose to associate a system's help navigation to a standard electric *** system is equipped with unit control and sensors to extract some *** elaborate a fuzzy controller which generates speed wheels orders in order to join the target position.

关键词： Fuzzy control Navigation Automatic generation control control systems control system synthesis Automatic control Wheelchairs Automation Aging Sensor systems

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