Vision-based mobile robot control and path planning algorithms in obstacle environments using Type-2 fuzzy logic / Mahmut Dirik, Oscar Castillo, Fatih Kocamaz.
2021
Q387
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Title
Vision-based mobile robot control and path planning algorithms in obstacle environments using Type-2 fuzzy logic / Mahmut Dirik, Oscar Castillo, Fatih Kocamaz.
Author
Dirik, Mahmut.
ISBN
9783030692476 (electronic bk.)
3030692477 (electronic bk.)
9783030692469
3030692469
3030692477 (electronic bk.)
9783030692469
3030692469
Publication Details
Cham : Springer, 2021.
Language
English
Description
1 online resource (143 pages)
Item Number
10.1007/978-3-030-69247-6 doi
Call Number
Q387
Dewey Decimal Classification
629.8/932
Summary
The book includes topics, such as: path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control. The theoretical concepts are illustrated with a developed control architecture with soft computing and artificial intelligence methods. The proposed vision-based motion control strategy involves three stages. The first stage consists of the overhead camera calibration and the configuration of the working environment. The second stage consists of a path planning strategy using several traditional path planning algorithms and proposed planning algorithm. The third stage consists of the path tracking process using previously developed Gauss and Decision Tree control approaches and the proposed Type-1 and Type-2 controllers. Two kinematic structures are utilized to acquire the input values of controllers. These are Triangle Shape-Based Controller Design, which was previously developed and Distance-Based Triangle Structure that is used for the first time in conducted experiments. Four different control algorithms, Type-1 fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and Gaussian Control have been used in overall system design. The developed system includes several modules that simplify characterizing the motion control of the robot and ensure that it maintains a safe distance without colliding with any obstacles on the way to the target. The topics of the book are extremely relevant in many areas of research, as well as in education in courses in computer science, electrical and mechanical engineering and in mathematics at the graduate and undergraduate levels.
Bibliography, etc. Note
Includes bibliographical references and index.
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Access limited to authorized users.
Source of Description
Description based on print version record.
Added Author
Castillo, Oscar.
Kocamaz, Fatih.
Kocamaz, Fatih.
Series
Studies in fuzziness and soft computing ; v. 407.
Available in Other Form
Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic.
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Table of Contents
Chapter 1: Introduction
Chapter 2: Literature review
Chapter 3: Prelimenary definition
Chapter 4: Materials and methods.
Chapter 2: Literature review
Chapter 3: Prelimenary definition
Chapter 4: Materials and methods.