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122532

Adaptive Neuro-Fuzzy control of Autonomous Ground Vehicle (AGV) based on Machine Vision

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Last updated: 04 Jan 2025

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Abstract

  Development of self-autonomous robot that has the capability to deal with dynamic obstacles as well as static obstacles and keep finding its optimal path represent big challenge to many of the researchers nowadays. Utilization of artificial intelligence (AI) in developing a robust algorithm for nonlinear system was proved in some applications. The present work focus on excessive analysis and investigation of the optimal AI algorithm technique for controlling the path planning of four -wheel autonomous robot to achieve its set target through both static and dynamic obstacles with the optimal path without human interference. Fuzzy logic, Neural Network, and Adaptive Neuro-Fuzzy Inference System (ANFIS) were tested and evaluated as controlling algorithm for this navigation task. The performance evaluation was done both theoretically and experimentally using vision-based feedback sensor, Kinect camera, on a real four-wheel mobile robot. Results prove that ANFIS successfully control the automatic path planning of the robot with the optimal path by reaching its target with %48.01 less than Neural Network and %58.51 less than Fuzzy Logic. ANFIS controller also has given safer path as well as flexible obstacles avoidance through its path to final destination with smooth time-efficient path in the cluttered environment.

DOI

10.21608/erj.2019.122532

Keywords

Autonomous robots, Machine vision, artificial intelligence, Path Planning, ANFIS, cluttered Environments

Authors

First Name

Hassan

Last Name

Farahat

MiddleName

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Affiliation

Pyramids Higher Institute (PHI), Giza, Egypt.

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Orcid

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First Name

Sameh

Last Name

Farid

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Affiliation

Faculty of Engineering, MSA University, Giza, Egypt.

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Orcid

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First Name

Osama

Last Name

E. Mahmoud

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Affiliation

Faculty of Engineering-Mattaria, Helwan University, Helwan, Egypt

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Volume

163

Article Issue

0

Related Issue

18331

Issue Date

2019-09-01

Receive Date

2020-11-10

Publish Date

2019-09-01

Page Start

218

Page End

233

Print ISSN

1110-5615

Article File

ERJ_Volume 163_Issue 0_Pages 218-233.pdf

PDF . 1.1MB

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https://erj.journals.ekb.eg/article_122532.html

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https://erj.journals.ekb.eg/service?article_code=122532

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Original Article

Type Code

998

Publication Type

Journal

Publication Title

Engineering Research Journal

Publication Link

https://erj.journals.ekb.eg/

MainTitle

Adaptive Neuro-Fuzzy control of Autonomous Ground Vehicle (AGV) based on Machine Vision

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Article

Created At

22 Jan 2023