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Navigation of non-holonomic mobile robot using neuro-fuzzy logic with integrated safe boundary algorithm

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Abstract

In the present work, autonomous mobile robot (AMR) system is intended with basic behaviour, one is obstacle avoidance and the other is target seeking in various environments. The AMR is navigated using fuzzy logic, neural network and adaptive neuro-fuzzy inference system (ANFIS) controller with safe boundary algorithm. In this method of target seeking behaviour, the obstacle avoidance at every instant improves the performance of robot in navigation approach. The inputs to the controller are the signals from various sensors fixed at front face, left and right face of the AMR. The output signal from controller regulates the angular velocity of both front power wheels of the AMR. The shortest path is identified using fuzzy, neural network and ANFIS techniques with integrated safe boundary algorithm and the predicted results are validated with experimentation. The experimental result has proven that ANFIS with safe boundary algorithm yields better performance in navigation, in particular with curved/irregular obstacles.

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Acknowledgment

The first author expresses his gratitude to V. R. Siddhartha Engineering College, Vijayawada, Andhra Pradesh, India, for moral support to organize this research work.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, V R Siddhartha Engineering College, Vijayawada, A.P, India

    A. Mallikarjuna Rao & C. Puneeth

  2. Department of Mechanical Engineering, A.U. College of Engineering, Andhra University, Visakhapatnam, A.P, India

    K. Ramji & B. S. K. Sundara Siva Rao

  3. Department of Mechanical Engineering, National Institute of Technology-Warangal, Warangal, Telangana, India

    V. Vasu

Authors
  1. A. Mallikarjuna Rao
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  2. K. Ramji
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  3. B. S. K. Sundara Siva Rao
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  4. V. Vasu
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  5. C. Puneeth
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Corresponding author

Correspondence to A. Mallikarjuna Rao.

Additional information

Recommended by Associate Editor Veljko Pvtkonjak

A. Mallikarjuna Rao received the B.Tech. degree in mechanical engineering from Acharya Nagarjuna University, India in 1999, and the M. Eng. degree in computer aided design/computer aided manufacturing (CAD/CAM) from Andhra University, India in 2004. He currently is a Ph.D. degree candidate navigation of mobile robots, at Andhra University, India. He is working as an assistant professor in Department of Mechanical Engineering, V R Siddhartha Engineering College, Vijayawada, A.P, India.

His research interests include robotics, mechatronics, artificial intelligence, CAD/CAM and additive manufacturing. In particular, his area of research is navigation of autonomous mobile robot using soft computing techniques. In addition, he is also interested to apply various optimizing techniques in additive manufacturing.

ORCID iD: 0000-0003-1805-3883

K. Ramji received the B.Eng. degree in mechanical from Andhra University, India in 1991, the M.Eng. degree in machine design, from Andhra University, India in 1991, the M.Tech. degree in nano technology, from Andhra University, India in 2007. He received the Ph.D. degree in vehicle dynamics, from Indian Institute of Technology, India in 2007. He is working as a professor in Department of Mechanical Engineering, A.U. College of Engineering, Andhra University, Visakhapatnam, India. He has published about 144 refereed journal and conference papers. He completed 15 sponsored research projects funded by various organizations like, University Grants Commission (UGC), Department of Science and Technology (DST), Naval Science and Technological Laboratory (NSTL).

His research interests include vehicle dynamics, type mechanics, finite element method (FEM), CAD, machine design, robotics, mechanisms, signal processing, condition monitoring and nano-technology.

B. S. K. Sundara Siva Rao received the B. Tech. degree in mechanical engineering from Andhra University, India in 1974, the M. Tech. degree in machine design, from Andhra University, India in 1978, the Ph.D. degree in static behaviour of shells, from Indian Institute of Technology, India in 1991. He is retired professor in Department of Mechanical Engineering, A. U. College of Engineering, Visakhapatnam, India. He published many journal and conference papers in the area of condition monitoring, fault diagnostics, signal processing etc.

His research interests include machine design, vibration analysis and condition monitoring.

V. Vasu received the B.Tech. degree in mechanical engineering from Nagarjuna University, India in 1999, the M.Eng. degree in manufacturing engineering from Birla Institute of Technology, India in 2003, and the Ph.D. degree in nano materials, from Jawaharlal Nehru Technical University, India in 2010. He is working as an assistant professor in Department of Mechanical Engineering, National Institute of Technology-Warangal, India.

His research interests include mechatronics, manufacturing engineering, nano-materials, nano-fluids.

C. Puneeth received the B.Tech. degree in mechanical engineering from Acharya Nagarjuna University, India in 2011, and M.Tech. degree in CAD/CAM from Jawaharlal Nehru Technical University, Kakinada, India in 2014.

His research interests include robotics and mechatronics. He was interested to develop social autonomous mobile robots with low cost.

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Rao, A.M., Ramji, K., Sundara Siva Rao, B.S.K. et al. Navigation of non-holonomic mobile robot using neuro-fuzzy logic with integrated safe boundary algorithm. Int. J. Autom. Comput. 14, 285–294 (2017). https://doi.org/10.1007/s11633-016-1042-y

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  • DOI: https://doi.org/10.1007/s11633-016-1042-y

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