Authors:
- Focuses on vision-based mobile robot path planning and motion control in the indoor application
- This monograph includes path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control using the developed control architecture with soft computing and artificial intelligence methods
- 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
Part of the book series: Studies in Fuzziness and Soft Computing (STUDFUZZ, volume 407)
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Table of contents (6 chapters)
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Front Matter
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Back Matter
About this book
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-BasedTriangle 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.
Authors and Affiliations
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Department of Computer Engineering, Şırnak University, Malatya, Turkey
Mahmut Dirik
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Division of Graduate Studies, Tijuana Institute of Technology, Tijuana, Mexico
Oscar Castillo
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Department of Computer Engineering, Inonu University, Malatya, Turkey
Fatih Kocamaz
Bibliographic Information
Book Title: Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic
Authors: Mahmut Dirik, Oscar Castillo, Fatih Kocamaz
Series Title: Studies in Fuzziness and Soft Computing
DOI: https://doi.org/10.1007/978-3-030-69247-6
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021
Hardcover ISBN: 978-3-030-69246-9Published: 02 March 2021
Softcover ISBN: 978-3-030-69249-0Published: 03 March 2022
eBook ISBN: 978-3-030-69247-6Published: 01 March 2021
Series ISSN: 1434-9922
Series E-ISSN: 1860-0808
Edition Number: 1
Number of Pages: XVIII, 127
Number of Illustrations: 10 b/w illustrations, 79 illustrations in colour
Topics: Computational Intelligence, Control, Robotics, Mechatronics, Control and Systems Theory