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Navigation Control of a Mobile Robot under Time Constraint using Genetic Algorithms, CSP Techniques, and Fuzzy Logic

Navigation Control of a Mobile Robot under Time Constraint using Genetic Algorithms, CSP Techniques, and Fuzzy Logic

Tlijani Hayet, Tlijani Hatem, Knani Jilani
Copyright: © 2017 |Pages: 23
ISBN13: 9781522507888|ISBN10: 1522507884|EISBN13: 9781522507895
DOI: 10.4018/978-1-5225-0788-8.ch035
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MLA

Hayet, Tlijani, et al. "Navigation Control of a Mobile Robot under Time Constraint using Genetic Algorithms, CSP Techniques, and Fuzzy Logic." Nature-Inspired Computing: Concepts, Methodologies, Tools, and Applications, edited by Information Resources Management Association, IGI Global, 2017, pp. 932-954. https://doi.org/10.4018/978-1-5225-0788-8.ch035

APA

Hayet, T., Hatem, T., & Jilani, K. (2017). Navigation Control of a Mobile Robot under Time Constraint using Genetic Algorithms, CSP Techniques, and Fuzzy Logic. In I. Management Association (Ed.), Nature-Inspired Computing: Concepts, Methodologies, Tools, and Applications (pp. 932-954). IGI Global. https://doi.org/10.4018/978-1-5225-0788-8.ch035

Chicago

Hayet, Tlijani, Tlijani Hatem, and Knani Jilani. "Navigation Control of a Mobile Robot under Time Constraint using Genetic Algorithms, CSP Techniques, and Fuzzy Logic." In Nature-Inspired Computing: Concepts, Methodologies, Tools, and Applications, edited by Information Resources Management Association, 932-954. Hershey, PA: IGI Global, 2017. https://doi.org/10.4018/978-1-5225-0788-8.ch035

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Abstract

This chapter proposes a two-input-and-one-output fuzzy controller for a two-wheeled mobile robot. The robot moves following a hybrid plan based on Genetic Algorithms and Constraint Satisfaction Problem techniques. The path yielded by this hybrid plan is structured by artificial beacons. In each position of these beacons, the current velocity of the controlled robot is by itself an input for the fuzzy controller. The second input is the time delay between the current position and the next sub goal to be reached. The proposed fuzzy controller aims to converge the time delay between positions in the path tracking closely to a time window. It gives the appropriate acceleration so that the time delay becomes closer to the time window.

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