Pandey, Krishna Kant (2014) Design and analysis of Intelligent Navigational
controller for Mobile Robot. MTech by Research thesis.
Since last several years requirement graph for autonomous mobile robots according to its virtual application has always been an upward one. Smother and faster mobile robots navigation with multiple function are the necessity of the day. This research is based on navigation system as well as kinematics model analysis for autonomous mobile robot in known environments. To execute and attain introductory robotic behaviour inside environments(e.g. obstacle avoidance, wall or edge following and target seeking) robot uses method of perception, sensor integration and fusion. With the help of these sensors robot creates its collision free path and analyse an environmental map time to time. Mobile robot navigation in an unfamiliar environment can be successfully studied here using online sensor fusion and integration. Various AI algorithm are used to describe overall procedure of mobilerobot navigation and its path planning problem. To design suitable controller that create
collision free path are achieved by the combined study of kinematics analysis of motion as well as an artificial intelligent technique. In fuzzy logic approach, a set of linguistic fuzzy rules are generated for navigation of mobile robot. An expert controller has been developed for the navigation in various condition of environment using these fuzzy rules. Further, type-2 fuzzy is employed to simplify and clarify the developed control algorithm more accurately due to fuzzy logic limitations. In addition, recurrent neural network (RNN) methodology has been analysed for robot navigation. Which helps the model at the time of learning stage. The robustness of controller has been checked on Webots simulation platform. Simulation results and performance of the controller using Webots platform show that, the mobile robot is capable for avoiding obstacles and reaching the termination point in efficient manner.
|Item Type:||Thesis (MTech by Research)|
|Uncontrolled Keywords:||mobile robots, kinematics model, robotic behaviour, navigation, AI algorithm, collision free path, recurrent neural network (RNN).|
|Subjects:||Engineering and Technology > Mechanical Engineering > Robotics|
|Divisions:||Engineering and Technology > Department of Mechanical Engineering|
|Deposited By:||Hemanta Biswal|
|Deposited On:||09 Feb 2015 09:45|
|Last Modified:||09 Feb 2015 09:45|
|Supervisor(s):||Parhi, D R|
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