Publication Type:

Journal Article

Source:

Defence Science Journal, Volume 60, Issue 4, Number 4, p.387-391 (2010)

URL:

http://eds.a.ebscohost.com/abstract?site=eds&scope=site&jrnl=0011748X&AN=53554507&h=zcVvyVbXd%2fXAc6XhpY1EGLkWFC0IT216IX%2f%2bIHsdOv4ardDG49dEp36ShmjJjpZPEoWpAKJZlqTIFhjeuBNQWw%3d%3d&crl=c&resultLocal=ErrCrlNoResults&resultNs=Ehost&crlhashurl=login.aspx%3

Abstract:

A mobile robot to navigate purposefully from a start location to a target location, needs three basic requirements: sensing, learning, and reasoning. In the existing system, the mobile robot navigates in a known environment on a predefined path. However, the pervasive presence of uncertainty in sensing and learning, makes the choice of a suitable tool of reasoning and decision-making that can deal with incomplete information, vital to ensure a robust control system. This problem can be overcome by the proposed navigation method using fuzzy support vector machine (FSVM). It proposes a fuzzy logic-based support vector machine (SVM) approach to secure a collision-free path avoiding multiple dynamic obstacles. The navigator consists of an FSVM-based collision avoidance. The decisions are taken at each step for the mobile robot to attain the goal position without collision. Fuzzy-SVM rule bases are built, which require simple evaluation data rather than thousands of input-output training data. The effectiveness of the proposed method is verified by a series of simulations and implemented with a microcontroller for navigation.

Cite this Research Publication

Dr. Gireesh K. T., Poornaselvan, K. J., and Dr. M. Sethumadhavan, “Fuzzy Support Vector Machine-based Multi-agent Optimal Path Planning Approach to Robotics Environment.”, Defence Science Journal, vol. 60, no. 4, pp. 387-391, 2010.

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