The International Arab Journal of Information Technology (IAJIT)

..............................
..............................
..............................


Robotic Path Planning and Fuzzy Neural Networks

Nada Mirza,
Fuzzy logic has gained excessive attention due to its capacity of handling the data in a much simpler way. It is applied to decrease the intricacy of already existed solutions and to provide the solution of new problems also. On the other hand, neural networks are distinct because of their robust processing and adaptive capabilities in dynamic environment. This paper mainly reviews the primary ideas and contribution of neural network system and fuzzy logic in the field of robotic path planning. Several hybrid techniques, which are being utilized in bringing dream of mobile robots to reality are discussed.


[1] Allagui N., Abid D., and Derbel N., “Fuzzy PI Controller for Mobile Robot Navigation and Tracking,” in Proceedings of 15th International Multi-Conference on Systems, Signals and Devices (SSD), Hammamet, pp. 1178-1183, 2018.

[2] Emmi L. and Gonzalez-de-Santos P., “Mobile Robotics in Arable Lands: Current State and Future Trends,” in Proceedings of European Conference on Mobile Robots, Paris, pp. 1-6, 2017.

[3] Er M. and Deng C., “Obstacle Avoidance of A Mobile Robot Using Hybrid Learning Approach,” IEEE Transactions on Industrial Electronics, vol. 52, no. 3, pp. 898-905, 2005.

[4] Fox D., Burgard W., and Thrun S., “The Dynamic Window Approach to Collision Avoidance,” IEEE Robotics and Automation Magazine, vol. 4, no. 1, pp. 23-33, 1997.

[5] Furlán F., Rubio E., Sossa H., and Ponce V., “Humanoid Robot Hierarchical Navigation Using Petri Nets and Fuzzy Logic,” in Proceedings of 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), Kanazawa, pp. 1521-1526, 2017.

[6] Glasius R., Komoda A., and Gielen S., “Neural Network Dynamics for Path Planning and Obstacle Avoidance,” Neural Networks, vol. 8, no. 1, pp. 125-133, 1994.

[7] Gomide F., Rocha A., and Albertos P., “Neurofuzzy Controllers,” IFAC Proceedings Volumes, vol. 25, no. 25, pp. 13-26, 1992.

[8] Kermiche S., Larbi S., Abbassi H.,” Fuzzy Logic Control of Robot Manipulator in The Presence of Fixed Obstacle,” The International Arab Journal of Information and Technology, vol. 4, no.1, pp. 26-32, 2007.

[9] Kim C. and Chwa D., “Obstacle Avoidance Method for Wheeled Mobile Robots Using Interval Type-2 Fuzzy Neural Network,” in IEEE Transactions on Fuzzy Systems, vol. 23, no. 3, pp. 677-687, 2015.

[10] Lozano-Pérz T. and Wesley M., “An Algorithm for Planning Collision- Free Paths Among Polyhedral Obstacles,” Commun. ACM, vol. 22, no. 10, pp. 560-570, 1979.

[11] Mirza N., “Comparison of Artificial Neural Networks based on Controllers for Biped Robots,” TEM Journal, vol. 8, no. 4, pp. 1272- 1276, 2019.

[12] Mirza N., “Application of Fuzzy Neural Networks in Robotic Path Planning,” The 620 The International Arab Journal of Information Technology, Vol. 17, No. 4A, Special Issue 2020 International Arab Conference on Information Technology, Al Ain, pp. 58-62, 2019.

[13] Naik K. and Gupta C., “Performance Comparison of Type-1 and Type-2 Fuzzy Logic Systems,” in Proceedings of 4th International Conference on Signal Processing, Computing and Control, Solan, pp. 72-76, 2017.

[14] Nejattukenmez. (2017, January 22). What is Fuzzy Logic? from https://nejattukenmez.wordpress.com/2016/05/24/b ulanik-mantik-nedir/, Last Visited, 2020.

[15] Pandey A., Sonkar R. K., Pandey K. K. and Parhi D. R., “Path Planning Navigation Of Mobile Robot With Obstacles Avoidance Using Fuzzy Logic Controller,” in Proceedings of 8th International Conference on Intelligent Systems and Control, Coimbatore, pp. 39-41, 2014.

[16] Qu H., Yang S., Willms A. and Yi Z., “Real-Time Robot Path Planning Based on a Modified Pulse- Coupled Neural Network Model,” IEEE Transactions on Neural Networks, vol. 20, no. 11, pp. 1724-1739, 2009.

[17] Sandeep B. and Supriya P., “Analysis of Fuzzy Rules For Robot Path Planning,” in Proceedings International Conference on Advances in Computing, Communications and Informatics, Jaipur, pp. 309-314, 2016.

[18] Sangeetha V. and Ravichandran K., “A Modified Fuzzy A* Based Inference System for Path Planning in an Unknown Environment,” in Proceedings 2nd International Conference on Trends in Electronics and Informatics, Tirunelveli, pp. 181-186, 2018.

[19] Smith Steven W., “The Scientist and Engineer's Guide to Digital Signal Processing” The Scientist and Engineer's Guide to Digital Signal Processing.

[Online].Available: http://www.dspguide.com/ch26/2.htm, Last Visited, 2020.

[20] Tan Ai R. and Dadios E., “Neuro-Fuzzy Mobile Robot Navigation,” in Proceedings 10th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management, Baguio City, pp. 1-6, 2018.

[21] Tutorialspoint.com, “Artificial Intelligence Fuzzy Logic Systems,” www.tutorialspoint.com.

[Online]. Available: https://www.tutorialspoint.com/artificial_intelligen ce/artificial_intelligence_fuzzy_logic_systems.htm, Last Visited, 2020.

[22] Ullah Z., Xu Z., Zhang L., Zhang L., and Ullah W., “RL and ANN Based Modular Path Planning Controller for Resource-Constrained Robots in the Indoor Complex Dynamic Environment,” IEEE Access, vol. 6, pp. 74557-74568, 2018.

[23] Wai R. and Liu C., “Design of Dynamic Petri Recurrent Fuzzy Neural Network and its Application to Path-Tracking Control of Nonholomonic Mobile Robot,” IEEE Transactions on Industrial Electronics, vol. 56, no. 7, pp. 2667-2683, 2009.

[24] Wen S., Zheng W., Zhu J., Li X., and Chen S., “Elman Fuzzy Adaptive Control for Obstacle Avoidance of Mobile Robots Using Hybrid Force/Position Incorporation,” IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), vol. 42, no. 4, pp. 603-608, 2012.

[25] Yang S. and Luo C., “A Neural Network Approach to Complete Coverage Path Planning,” IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol. 34, no. 1, pp. 718-724, 2004.

[26] Yudha H. M., Dewi T., Hasana N., Risma P., Oktarini Y., and Kartini S., “Performance Comparison of Fuzzy Logic and Neural Network Design for Mobile Robot Navigation,” in Proceedings of International Conference on Electrical Engineering and Computer Science, Batam Island, pp. 79-84, 2019.

[27] Zennir Y. and Allou S., “Comparison of PID and Fuzzy Controller for Path Tracking Control of Autonomous Electrical Vehicles,” in Proceedings of International Conference on Electrical Sciences and Technologies in Maghreb, Algiers, pp. 1-6, 2018. Nada Mirza currently serves as an Instructor in the College of Engineering at Al Ain University (AAU), UAE. Ms. Nada received her BE and MS degrees in Mechatronics Engineering from College of Electrical and Mechanical Engineering, National University of Sciences & Technology, Pakistan. Her post-graduate research was mostly focused on the application of artificial intelligence, robotics and wireless monitoring of renewable energy systems. Her research is currently focused on cognitive radio networks, MIMO radio channel characterization for microwave and wireless body area networks, alternative sampling methodologies for the sampling of multidimensional signals and adaptive signal processing techniques, and machine learning.