Robust mobile robot navigation in cluttered environments based on hybrid adaptive neuro-fuzzy inference and sensor fusion

doi:10.1016/j.jksuci.2022.08.031

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Robust mobile robot navigation in cluttered environments based on hybrid adaptive neuro-fuzzy inference and sensor fusion
	Haider, Muhammad Husnain 4,5; Wang, Zhonglai 4,5; Khan, Abdullah Aman 1,4; Ali, Hub 2; Zheng, Hao 4; Usman, Shaban 4; Kumar, Rajesh 4,5; Bhutta, M. Usman Maqbool 3; Zhi, Pengpeng 4,5
刊名	JOURNAL OF KING SAUD UNIVERSITY-COMPUTER AND INFORMATION SCIENCES
	2022-11-01
卷号	34 期号:10 页码:9060-9070
关键词	ANFIS GPS Mobile robot Obstacle avoidance Autonomous navigation
ISSN号	1319-1578
DOI	10.1016/j.jksuci.2022.08.031
通讯作者	Wang, Zhonglai(wzhonglai@uestc.edu.cn) ; Zhi, Pengpeng(zhipeng17@yeah.net)
英文摘要	Collision-free navigation of mobile robots is a challenging task, especially in unknown environments, and various studies have been carried out in this regard. However, the previous studies have shortcomings, such as low performance in cluttered and unknown environments, high computational costs, and multiple controller models for navigation. This paper proposes an adaptive neuro-fuzzy inference system (ANFIS) and global positioning system (GPS) for control and navigation to overcome these problems. The proposed method automates the navigation of a mobile robot while averting obstacles in unknown and densely cluttered environments. Furthermore, the mobile robots' global path planning and steering are controlled using GPS and heading sensor data fusion to achieve the target coordinates. A fuzzy inference system (FIS) is adopted to model obstacle avoidance where distance sensors data is converted into fuzzy linguistics. Moreover, a type-1 Takagi-Sugeno FIS is used to train a five-layered neural network for the local planning of the robot, and ANFIS parameters are tuned using a hybrid learning method. In addition, an algorithm is designed to generate a dataset for testing and training the ANFIS controller. All the testing and training are conducted in MATLAB, while simulations are carried out using CoppeliaSim. Comprehensive experiments are performed to validate the robustness of the proposed method. The results of the experiments show that the proposed approach outperforms various state-of-the-art neuro-fuzzy, CS-ANFIS, multi-ANFIS, and hybrid ANFIS navigation and obstacle avoidance methods in finding a near-optimal path in unknown environments.
资助项目	Sichuan Science and Technology Program[2020JDJQ0036] ; Natural Science Foundation of Sichuan Province[2022NSFSC1941] ; Natural Science Foundation of Sichuan Province[2022]
WOS关键词	OBSTACLE AVOIDANCE ; ALGORITHM ; IDENTIFICATION ; CONTROLLER
WOS研究方向	Computer Science
语种	英语
出版者	ELSEVIER
WOS记录号	WOS:000999620800010
资助机构	Sichuan Science and Technology Program ; Natural Science Foundation of Sichuan Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53600]
专题	多模态人工智能系统全国重点实验室
通讯作者	Wang, Zhonglai; Zhi, Pengpeng
作者单位	1.Sichuan Artificial Intelligence Res Inst, Yibin 644000, Sichuan, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong 999077, Peoples R China 4.Univ Elect Sci & Technol China, Sch Mech & Elect Engn, Chengdu 64000, Sichuan, Peoples R China 5.Univ Elect Sci & Technol China, Yangtze Delta Reg Inst, Huzhou 313001, Zhejiang, Peoples R China
推荐引用方式 GB/T 7714	Haider, Muhammad Husnain,Wang, Zhonglai,Khan, Abdullah Aman,et al. Robust mobile robot navigation in cluttered environments based on hybrid adaptive neuro-fuzzy inference and sensor fusion[J]. JOURNAL OF KING SAUD UNIVERSITY-COMPUTER AND INFORMATION SCIENCES,2022,34(10):9060-9070.
APA	Haider, Muhammad Husnain.,Wang, Zhonglai.,Khan, Abdullah Aman.,Ali, Hub.,Zheng, Hao.,...&Zhi, Pengpeng.(2022).Robust mobile robot navigation in cluttered environments based on hybrid adaptive neuro-fuzzy inference and sensor fusion.JOURNAL OF KING SAUD UNIVERSITY-COMPUTER AND INFORMATION SCIENCES,34(10),9060-9070.
MLA	Haider, Muhammad Husnain,et al."Robust mobile robot navigation in cluttered environments based on hybrid adaptive neuro-fuzzy inference and sensor fusion".JOURNAL OF KING SAUD UNIVERSITY-COMPUTER AND INFORMATION SCIENCES 34.10(2022):9060-9070.