Control of Real Mobile Robot Using Artificial Intelligence Technique

An eventual objective of mobile robotics research is to bestow the robot with high cerebral skill, of which navigation in an unfamiliar environment can be succeeded by using on‐line sensory information, which is essentially starved of humanoid intermediation. This research emphases on mechanical design of real mobile robot, its kinematic & dynamic model analysis and selection of AI technique based on perception, cognition, sensor fusion, path scheduling and analysis, which has to be implemented in robot for achieving integration of different preliminary robotic behaviors (e.g. obstacle avoidance, wall and edge following, escaping dead end and target seeking). Navigational paths as well as time taken during navigation by the mobile robot can be expressed as an optimization problem and thus can be analyzed and solved using AI techniques. The optimization of path as well as time taken is based on the kinematic stability and the intelligence of the robot controller. A set of linguistic fuzzy rules are developed to implement expert knowledge under various situations. Both of Mamdani and Takagi-Sugeno fuzzy model are employed in control algorithm for experimental purpose. Neural network has also been used to enhance and optimize the outcome of controller, e.g. by introducing a learning ability. The cohesive framework combining both fuzzy inference system and neural network enabled mobile robot to generate reasonable trajectories towards the target. An authenticity checking has been done by performing simulation as well as experimental results which showed that the mobile robot is capable of avoiding stationary obstacles, escaping traps, and reaching the goal efficiently

Navigational Path Analysis of Mobile Robot in Various Environments

This dissertation describes work in the area of an autonomous mobile robot. The objective is navigation of mobile robot in a real world dynamic environment avoiding structured and unstructured obstacles either they are static or dynamic. The shapes and position of obstacles are not known to robot prior to navigation. The mobile robot has sensory recognition of specific objects in the environments. This sensory-information provides local information of robots immediate surroundings to its controllers. The information is dealt intelligently by the robot to reach the global objective (the target). Navigational paths as well as time taken during navigation by the mobile robot can be expressed as an optimisation problem and thus can be analyzed and solved using AI techniques. The optimisation of path as well as time taken is based on the kinematic stability and the intelligence of the robot controller. A successful way of structuring the navigation task deals with the issues of individual behaviour design and action coordination of the behaviours. The navigation objective is addressed using fuzzy logic, neural network, adaptive neuro-fuzzy inference system and different other AI technique.The research also addresses distributed autonomous systems using multiple robot