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  Fuzzy Logic Based Framework for Mobile Robot Navigation with Target Tracking  
  Authors : Tharindu Fernando; Harshala Gammulle; Chamila Walgampaya
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With the advances of technology, mobile robots are becoming increasingly popular. According to Karthiga (2014) developed countries get the assistance of mobile robots to rescue humans in disaster areas and this has been proven as a productive method to eliminate human error. In such instances robots are required to navigate in hostile environments such as collapsing buildings or areas affected fire. This paper presents implemented control architecture for mobile robot target tracking and obstacle avoidance in a dynamic hostile environment. Given the existing body of research results in the field of obstacle avoidance and path planning, which is reviewed in this context, particular attention is paid to integrate computer vision based sensing mechanisms to robust fuzzy logic based navigation control method. A rule-based fuzzy controller with reactive behaviour was implemented and tested on a RP5 mobile robot platform. Depth and colour information for both navigation and target tracking are to be captured using a Asus Xtion PRO sensor. This traversability data is used to infer, in real time, the navigational path based on the Fuzzy Rule-Base algorithm. The effectiveness of the proposed approach was verified through several experiments, which demonstrates the feasibility of a fuzzy target tracker as well as the extensible obstacle and hostile region avoidance system.


Published In : IJCSN Journal Volume 4, Issue 5

Date of Publication : October 2015

Pages : 761 - 770

Figures :27

Tables : 02

Publication Link : Fuzzy Logic Based Framework for Mobile Robot Navigation with Target Tracking




Tharindu Fernando : is currently a final year student following a BSc computer science special degree program in Faculty of science, University of Peradeniya Sir Lanka. His research interests include, Artificial intelligence, Machine Learning, Computer vison and human computer interaction.

Harshala Gammulle : Asst Prof, Dept of E & TC, Sinhgad Academy of Engg, Pune, India

Durgaprasad K Kamat : is currently an undergraduate student following a BSc computer science special degree program in Faculty of science, University of Peradeniya Sir Lanka. Her research interest include, Digital forensics, Artificial intelligence and image processing.

Chamila Walgampaya : earned his B.Sc. in Computer Engineering with honours in November 2001 from the Faculty of Engineering, University of Peradeniya, Sri Lanka. He earned his Ph.D. in August 2011 from the School of Engineering at the University of Louisville. For his Ph.D., he worked on developing a novel click fraud detection and prevention system for Internet advertising. His disseration titled is "Click Fruad: how to spot it? how to stop it?" He is currently a lecturer in the Department of Engineering Mathematics, University of Peradeniya.








Fuzzy Logic Control

Mobile Robot Target Tracking

Obstacle Avoidance Module

Hostile Region Avoidance Module

This paper addresses the navigational challenges that arise in settings where mobile robots move in an unstructured environment. We have proposed a robust fuzzy logic based navigation control algorithm and a novel framework for the integration of computer vision based sensing mechanism for mobile robots. The proposed work intends to introduce robots into open, real world environments and navigate them intelligently with minimal human intervention. The study has addressed the two main issues in robot path planning. Reliable reactive obstacle and hostile region avoidance to guarantee safe operation, and smooth path planning that allows to dynamically adapt environment information with the motion of surrounding persons and objects.










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