vol20no1pa3

References

[1] Velappa Ganapathy, Soh Chin Yunand Jefry Ng, “Fuzzy and NeuralControllers for Acute Obstacle Avoidance Navigation Advanced in Mobile Robot”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 5082-5085, July 2009.

[2] Wang Dongshu, Zhang Yusheng and Si Wenjie,” Behavior-Based Hierarchical Fuzzy Control for Mobile Robot Navigation inDynamic Environment,” Chinese Control and Decision Conference (CCDC), pp. 2419-2424, Nov. 2011.

[3] Kai-Hui Chi and Min-Fan RickyLee, “Obstacle Avoidance in MobileRobot using Neural Network,”International Conference on Consumer Electronics, Communications and Networks (CECNet), pp. 589-596, Oct. 2010.

[4] Mario D. Capuozzo and David L. Livingston, “A Compact Evolutionary Algorithm for Integer Spiking Neural Network RobotControllers,” Proceedings of IEEESoutheastcon, pp. 237-242, 2011.

Tikrit Journal of Engineering Sciences (2013) 20(1) 21-28

New Design of Mobile Robot Path Planning with Randomly Moving Obstacles

Thair Ali Salih Mustafa Zuhear Nayef
Computer Eng. Dept., Technical College, Mosul, Iraq

Abstract

The navigation of a mobile robot in an unknown environment has always been a very challenging task. In order to achieve safe and autonomous navigation, the mobile robot needs to sense the surrounding environment and plans a collision-free path. This paper focuses on designing and implementing a mobile robot which has the ability of navigating smoothly in an unknown environment, avoiding collisions, without having to stop in front of obstacles, detecting leakage of combustible gases and transmitting a message of detection results to the civil defense unit automatically through the Internet to the E-mail. This design uses the implementation of artificial neural network (ANN) on a new technology represented by Field Programmable Analog Array (FPAA) for controlling the motion of the robot. The robot with the proposed controller is tested and has completed the required objective successfully.

Download Full-text PDF

KeywordsMobile robot, Field Programmable Analog Array (FPAA), Artificial Neural Networks, Gas sensor.

How to cite

TJES: Salih TA, Nayef MZ. New Design of Mobile Robot Path Planning with Randomly Moving ObstaclesTikrit Journal of Engineering Sciences 2013; 20(1): 21-28.
APA: Salih, T. A., & Nayef, M. Z. (2013). New Design of Mobile Robot Path Planning with Randomly Moving Obstacles. Tikrit Journal of Engineering Sciences, 20(1), 21-28.