Abstract
In this paper, a Fuzzy Neural Petri Net (FNPN) controller has been designed established on Particle Swarm Optimization (PSO) for controlling the path tracking of Wheeled Mobile Robot (WMR). The path planning controller problem has been solved using two FNPN controllers to get the desired velocity and azimuth. The PSO method has used to detection the optimal values parameters of FNPN controllers. The overall models of wheeled mobile robot for path tracking control created on PSO algorithm are implemented in Simulink-Matlab. Simulation outcomes demonstrate the suggested FNPN controllers is more effectiveness and has good dynamic performance than the conventional methods.
Highlights
Nowadays, wheeled wheel robots have been generally utilized in many applications such as manufacturing automation, in hazardous areas and inaccessible areas such as space and war environments, chemical waste cleaning, individual use in different service, etc
A Fuzzy Neural Petri Net (FNPN) controller has been designed established on Particle Swarm Optimization (PSO) for controlling the path tracking of Wheeled Mobile Robot (WMR)
This paper present an effective and more important controller based on fuzzy neural petri net (FNPN) controller are used for controlling the wheeled mobile robot
Summary
Nowadays, wheeled wheel robots have been generally utilized in many applications such as manufacturing automation, in hazardous areas and inaccessible areas such as space and war environments, chemical waste cleaning, individual use in different service, etc. Versatile robots are not settled at one area and they can move around in their condition; along these lines, this sort of portable robots can be depicting as a movement gadget that execute computerized assignments, by utilizing manmade brainpower (AI) methods, contingent upon the human introduction or a particular program. Automated frameworks have non-holonomic conduct which makes them especially fascinating and accessible in light of the fact that the most portable robots are non-holonomic wheeled mechanical frameworks which is caused troublesome control on the development of the wheeled has three points of adaptability to control the versatile robot, two controller movements further down the non-holonomic kinematics [3]. When all is said in done, the portable robot's route control issues can be requested into three orders: The primary arrangement is the position estimation of the robot in its workplace is one of huge issues in versatile robots which can be understood by utilizing its on-board sensors with dynamic condition changes. The PSO algorithm used for numerical calculation of optimal FNPN controller parameters which is used to adjust the linear velocity and the azimuth for the wheeled mobile robot and give better performance
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