Visual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Control

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dc.authoridCastillo, Oscar/0000-0002-7385-5689
dc.authoriddirik, mahmut/0000-0003-1718-5075
dc.authoridKocamaz, Adnan Fatih/0000-0002-7729-8322
dc.authorwosidDirik, Mahmut/AAD-6165-2021
dc.authorwosidCastillo, Oscar/I-5578-2019
dc.authorwosiddirik, mahmut/R-7971-2019
dc.authorwosidOchoa, Patricia/JUV-7478-2023
dc.authorwosidKocamaz, Adnan Fatih/C-2820-2014
dc.contributor.authorDirik, Mahmut
dc.contributor.authorCastillo, Oscar
dc.contributor.authorKocamaz, Adnan Fatih
dc.date.accessioned2024-08-04T20:46:00Z
dc.date.available2024-08-04T20:46:00Z
dc.date.issued2019
dc.departmentİnönü Üniversitesien_US
dc.description.abstractMobile robot motion planning in an unstructured, static, and dynamic environment is faced with a large amount of uncertainties. In an uncertain working area, a method should be selected to address the existing uncertainties in order to plan a collision-free path between the desired two points. In this paper, we propose a mobile robot path planning method in the visualize plane using an overhead camera based on interval type-2 fuzzy logic (IT2FIS). We deal with a visual-servoing based technique for obstacle-free path planning. It is necessary to determine the location of a mobile robot in an environment surrounding the robot. To reach the target and for avoiding obstacles efficiently under different shapes of obstacle in an environment, an IT2FIS is designed to generate a path. A simulation of the path planning technique compared with other methods is performed. We tested the algorithm within various scenarios. Experiment results showed the efficiency of the generated path using an overhead camera for a mobile robot.en_US
dc.description.sponsorshipTUBITAK-BIDEB [2214/A]en_US
dc.description.sponsorshipThis research was funded by TUBITAK-BIDEB under grant 2214/A.en_US
dc.identifier.doi10.3390/axioms8020058
dc.identifier.issn2075-1680
dc.identifier.issue2en_US
dc.identifier.scopus2-s2.0-85066858090en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.urihttps://doi.org/10.3390/axioms8020058
dc.identifier.urihttps://hdl.handle.net/11616/98820
dc.identifier.volume8en_US
dc.identifier.wosWOS:000474937100022en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherMdpien_US
dc.relation.ispartofAxiomsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectinterval type-2 fuzzy logicen_US
dc.subjectmobile roboten_US
dc.subjectpath planningen_US
dc.subjectoverhead cameraen_US
dc.subjectvisual-servoingen_US
dc.subjectobstacle-freeen_US
dc.titleVisual-Servoing Based Global Path Planning Using Interval Type-2 Fuzzy Logic Controlen_US
dc.typeArticleen_US

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