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Analysis and use of fuzzy intelligent technique for navigation of humanoid robot in obstacle prone zone 被引量:7
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作者 Asita kumar Rath Dayal R.Parhi +2 位作者 Harish Chandra Das Manoj kumar Muni priyadarshi biplab kumar 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2018年第6期677-682,共6页
With the increasing use of humanoid robots in several sectors of industrial automation and manufacturing, navigation and path planning of humanoids has emerged as one of the most promising area of research. In this pa... With the increasing use of humanoid robots in several sectors of industrial automation and manufacturing, navigation and path planning of humanoids has emerged as one of the most promising area of research. In this paper, a navigational controller has been developed for a humanoid by using fuzzy logic as an intelligent algorithm for avoiding the obstacles present in the environment and reach the desired target position safely. Here, the controller has been designed by careful consideration of the navigational parameters by the help of fuzzy rules. The sensory information regarding obstacle distances and bearing angle towards the target are considered as inputs to the controller and necessary velocities for avoiding the obstacles are obtained as outputs. The working of the controller has been tested on a NAO humanoid robot in V-REP simulation platform. To validate the simulation results, an experimental platform has been designed under laboratory conditions, and experimental analysis has been performed.Finally, the results obtained from both the environments are compared against each other with a good agreement between them. 展开更多
关键词 HUMANOID robot NAVIGATION Path planning FUZZY
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