Development of a Mobile Robot Local Navigation System Based on Fuzzy-Logic Control and Actual Virtual Target Switching

Robot local path planning in an unknown and changing environment with uncertainties is one of the most challenging problems in robotics which involves the integration of many different bodies of knowledge. This makes mobile robotics a challenge worldwide which for many years has been investigated by researchers. Therefore in this thesis, a new fuzzy logic control system is developed for reactive navigation of a behavior-based mobile robot. The motion of a Pioneer 3TM mobile robot was simulated to show the algorithm performance. The robot perceives its environment through an array of eight sonar range finders and self positioning-localization sensors. The robot environment consists of walls and dead end traps from any size and shape, as well as other stationary obstacles and it is assumed to be fully unknown. Robot behaviors consist of obstacle avoidance, target seeking, speed control, barrier following and local minimum avoidance. While the fuzzy logic body of the algorithm performs the main tasks of obstacle avoidance, target seeking, and speed adjustment, an actual-virtual target switch strategy integrated with the fuzzy logic algorithm enables the robot to show wall following behavior when needed. This combinational approach which uses a new kind of target shift, significantly results in resolving the problem of multiple minimum in local navigation which is an advantage beyond the pure fuzzy logic approach and the common virtual target switch techniques. In this work, multiple traps may have any type of shape or arrangement from barriers forming simple corners and U-shape dead ends to loops, maze, snail shape, and many others. Under the control of the algorithm, the mobile robot makes logical trajectories toward the target, finds best ways out of dead ends, avoids any types of obstacles, and adjusts its speed efficiently for better obstacle avoidance and according to power considerations and actual limits. From TRAINER Software and Colbert Program which were used in the simulation work, the system managed to solve all the problems in sample environments and the results were compared with results from other related methods to show the effectiveness and robustness of the proposed approach

Tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi MARA terhadap mata pelajaran Bahasa Inggeris

Kajian ini dilakukan untuk mengenal pasti tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi Mara Sri Gading terhadap Bahasa Inggeris. Kajian yang dijalankan ini berbentuk deskriptif atau lebih dikenali sebagai kaedah tinjauan. Seramai 325 orang pelajar Diploma in Construction Technology dari Kolej Kemahiran Tinggi Mara di daerah Batu Pahat telah dipilih sebagai sampel dalam kajian ini. Data yang diperoleh melalui instrument soal selidik telah dianalisis untuk mendapatkan pengukuran min, sisihan piawai, dan Pekali Korelasi Pearson untuk melihat hubungan hasil dapatan data. Manakala, frekuensi dan peratusan digunakan bagi mengukur penguasaan pelajar. Hasil dapatan kajian menunjukkan bahawa tahap penguasaan Bahasa Inggeris pelajar adalah berada pada tahap sederhana manakala faktor utama yang mempengaruhi penguasaan Bahasa Inggeris tersebut adalah minat diikuti oleh sikap. Hasil dapatan menggunakan pekali Korelasi Pearson juga menunjukkan bahawa terdapat hubungan yang signifikan antara sikap dengan penguasaan Bahasa Inggeris dan antara minat dengan penguasaan Bahasa Inggeris. Kajian menunjukkan bahawa semakin positif sikap dan minat pelajar terhadap pengajaran dan pembelajaran Bahasa Inggeris semakin tinggi pencapaian mereka. Hasil daripada kajian ini diharapkan dapat membantu pelajar dalam meningkatkan penguasaan Bahasa Inggeris dengan memupuk sikap positif dalam diri serta meningkatkan minat mereka terhadap Bahasa Inggeris dengan lebih baik. Oleh itu, diharap kajian ini dapat memberi panduan kepada pihak-pihak yang terlibat dalam membuat kajian yang akan datang

IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT

This paper presents the design and implementation of a human–robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the RoboCup domain. The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface. A human–robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularized software architecture, operability, and functionality. Some experimental results are presented to show the performance of the proposed system based on simulated and real-time information. </jats:p

Reusable Software Components for Robots Using Fuzzy Abstractions

Mobile robots today, while varying greatly in design, often have a large number of similarities in terms of their tasks and goals. Navigation, obstacle avoidance, and vision are all examples. In turn, robots of similar design, but with varying configurations, should be able to share the bulk of their controlling software. Any changes required should be minimal and ideally only to specify new hardware configurations. However, it is difficult to achieve such flexibility, mainly due to the enormous variety of robot hardware available and the huge number of possible configurations. Monolithic controllers that can handle such variety are impossible to build. This paper will investigate these portability problems, as well as techniques to manage common abstractions for user-designed components. The challenge is in creating new methods for robot software to support a diverse variety of robots, while also being easily upgraded and extended. These methods can then provide new ways to support the operational and functional reuse of the same high-level components across a variety of robots