Global Path Planning and Path-Following for Wheeled Mobile Robot Using a Novel Control Structure Based on a Vision Sensor

Basit Öğe Kaydı
dc.authoridCastillo, Oscar/0000-0002-7385-5689
dc.authoriddirik, mahmut/0000-0003-1718-5075
dc.authoridKocamaz, Adnan Fatih/0000-0002-7729-8322;
dc.authorwosidCastillo, Oscar/I-5578-2019
dc.authorwosidOchoa, Patricia/JUV-7478-2023
dc.authorwosiddirik, mahmut/R-7971-2019
dc.authorwosidKocamaz, Adnan Fatih/C-2820-2014
dc.authorwosidDirik, Mahmut/AAD-6165-2021
dc.contributor.authorDirik, Mahmut
dc.contributor.authorKocamaz, Adnan Fatih
dc.contributor.authorCastillo, Oscar
dc.date.accessioned2024-08-04T20:48:44Z
dc.date.available2024-08-04T20:48:44Z
dc.date.issued2020
dc.departmentİnönü Üniversitesien_US
dc.description.abstractThis paper presents a novel design for the kinematic control structure of the wheeled mobile robot (WMR) path planning and path-following. The proposed system is focused on the implementation of practical real-time model-free algorithms based on visual servoing. The mainframe of this study is to implement a novel kinematic control structure based on visual sevoing and hybrid algorithms in real-time mobile robot applications. First, the structure of the proposed algorithm based on the visual information extracted from an overhead camera has been addressed. Then, the classification process of robot position and orientation, target, and obstacles has been addressed. Second, the path planning algorithms' initial parameters and obstacles-free path coordinates have been determined by visual information extracted from images in real time. In this step, the interval type-2 fuzzy inference (IT2FIS) algorithm and various algorithms used in path planning have been compared and their performances have been analyzed. The third stage handled the path-following process using a novel control structure for keeping up the robot on the generated path. In this step, the proposed approach is compared with fuzzy Type-1/Type-2 and fuzzy-PID control algorithms, and their results have been analyzed statistically. The proposed system has been successfully implemented on several maps. The experimental results show that the developed design is valid in generating collision-free paths efficiently and consistently and able to guide the robot to follow the path in real time.en_US
dc.identifier.doi10.1007/s40815-020-00888-9
dc.identifier.endpage1891en_US
dc.identifier.issn1562-2479
dc.identifier.issn2199-3211
dc.identifier.issue6en_US
dc.identifier.scopus2-s2.0-85087654392en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage1880en_US
dc.identifier.urihttps://doi.org/10.1007/s40815-020-00888-9
dc.identifier.urihttps://hdl.handle.net/11616/99401
dc.identifier.volume22en_US
dc.identifier.wosWOS:000543181200001en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSpringer Heidelbergen_US
dc.relation.ispartofInternational Journal of Fuzzy Systemsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectPath planningen_US
dc.subjectVisual servoingen_US
dc.subjectSoft computingen_US
dc.subjectImage processingen_US
dc.subjectCollision-freeen_US
dc.titleGlobal Path Planning and Path-Following for Wheeled Mobile Robot Using a Novel Control Structure Based on a Vision Sensoren_US
dc.typeArticleen_US

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu