scholarly journals Intelligent Multi-Robot System for Collaborative Object Transportation Tasks in Rough Terrains

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1499
Author(s):  
Daegyun Choi ◽  
Donghoon Kim
Keyword(s):  
Fuzzy Inference ◽  
Target Position ◽  
Inequality Constraints ◽  
Robot System ◽  
Inference System ◽  
Genetic Fuzzy System ◽  
Object Transportation ◽  
The Stability ◽  
Inference Systems ◽  
Multi Robot

Human missions on other planets require constructing outposts and infrastructures, and one may need to consider relocating such large objects according to changes in mission spots. A multi-robot system would be a good option for such a transportation task because it can carry massive objects and provide better system reliability and redundancy when compared to a single robot system. This paper proposes an intelligent and decentralized approach for the multi-robot system using a genetic fuzzy system to perform an object transportation mission that not only minimizes the total travel distance of the multi-robot system but also guarantees the stability of the whole system in a rough terrain environment. The proposed fuzzy inference system determines the multi-robot system’s input for transporting an object to a target position and is tuned in the training process by a genetic algorithm with an artificially generated structured environment employing multiple scenarios. It validates the optimality of the proposed approach by comparing the training results with the results obtained by solving the formulated optimal control problem subject to path inequality constraints. It highlights the performance of the proposed approach by applying the trained fuzzy inference systems to operate the multi-robot system in unstructured environments.

scholarly journals Cloud-Based Multi-Robot Path Planning in Complex and Crowded Environment Using Fuzzy Logic and Online Learning

2021 ◽  
Vol 50 (2) ◽  
pp. 357-374
Author(s):  
Novak Zagradjanin ◽  
Aleksandar Rodic ◽  
Dragan Pamucar ◽  
Bojan Pavkovic
Keyword(s):  
Path Planning ◽  
High Efficiency ◽  
Fuzzy Inference ◽  
Learning Algorithm ◽  
Dynamic Environment ◽  
Cloud Services ◽  
Robot System ◽  
Inference System ◽  
Crowded Environment ◽  
Multi Robot

This paper considers an autonomous cloud-based multi-robot system designed to execute highly repetitive tasksin a dynamic environment such as a modern megastore. Cloud level is intended for performing the most demandingoperations in order to unload the robots that are users of cloud services in this architecture. For path planningon global level D* Lite algorithm is applied, bearing in mind its high efficiency in dynamic environments. In orderto introduce smart cost map for further improvement of path planning in complex and crowded environment, implementationof fuzzy inference system and learning algorithm is proposed. The results indicate the possibility ofapplying a similar concept in different real-world robotics applications, in order to reduce the total paths length,as well as to minimize the risk in path planning related to the human-robot interactions.

Multi-robot path planning based on improved artificial potential field and fuzzy inference system1

2020 ◽  
Vol 39 (5) ◽  
pp. 7621-7637 ◽  
Author(s):  
Tao Zhao ◽  
Haodong Li ◽  
Songyi Dian
Keyword(s):  
Collision Avoidance ◽  
Potential Field ◽  
Fuzzy Inference ◽  
Target Position ◽  
Assessment Method ◽  
Artificial Potential Field ◽  
Collision Risk ◽  
Inference System ◽  
Field Function ◽  
Multi Robot

In this paper, we propose a method to assess the collision risk and a strategy to avoid the collision for solving the problem of dynamic real-time collision avoidance between robots when a multi-robot system is applied to perform a given task collaboratively and cooperatively. The collision risk assessment method is based on the moving direction and position of robots, and the collision avoidance strategy is based on the artificial potential field (APF) and the fuzzy inference system (FIS). The traditional artificial potential field (TAPF) has the problem of the local minimum, which will be optimized by improving the repulsive field function. To adjust the speed of the robot adaptively and improve the security performance of the system, the FIS is used to plan the speed of robots. The hybridization of the improved artificial potential field (IAPF) and the FIS will make each robot safely and quickly find a collision-free path from the starting position to the target position in a completely unknown environment. The simulation results show that the strategy is effective and useful for collision avoidance in multi-robot systems.

scholarly journals Utilization of Current Data for Geospatial Analysis of the Appropriateness of Apple Plantation Land Based on Fuzzy Inference Systems

2019 ◽  
Vol 4 (1) ◽  
pp. 64
Author(s):  
Prayudi Lestantyo
Keyword(s):  
Fuzzy Inference System ◽  
Fuzzy Inference ◽  
Geospatial Analysis ◽  
Current Data ◽  
Inference System ◽  
Apple Industry ◽  
Accuracy Test ◽  
Spatial Factor ◽  
Apple Production ◽  
Inference Systems

Apple is a high-value import fruit in Indonesia. One of the Apple production centers in Indonesia is Batu City, but the results tend to be declining in every year. To fulfill the demand of domestic apple industry, it is than a must to open new plantation land by observing the spatial factor. Expert and direct field review are needed to perform the analysis of land suitability, so that it will takes a lot of time and effort. Therefore, a smart system that can conduct geospatial analysis by using fuzzy inference system is developed. The data was obtained by using satellite imagery, data interpolation, and digitized and then analyzed into information. The analysis was performed on each pixel with six variable inputs including altitude, rainfall, humidity, air temperature, soil type and sun shine intensity. Besides that, the five-clustering output makes the results more accurate. From the results of the accuracy test, it is obtained a 92,86% accuracy, by comparing the results of the spatial analysis using fuzzy inference system with direct review on the field.

scholarly journals TWO-LAYERS WORKSPACE: A NEW APPROACH TO COOPERATIVE OBJECT TRANSPORTATION WITH OBSTACLE AVOIDANCE FOR MULTI-ROBOT SYSTEM

IEEE Access ◽  
2022 ◽  
pp. 1-1
Author(s):  
Stephanie Kamarry ◽  
Raimundo Carlos S. Freire ◽  
Elyson A. N. Carvalho ◽  
Lucas Molina ◽  
Phillipe Cardoso Santos ◽  
...  
Keyword(s):  
Obstacle Avoidance ◽  
Robot System ◽  
New Approach ◽  
Object Transportation ◽  
Multi Robot

Fuzzy Logic-Based Inference Systems

2015 ◽  
pp. 209-239
Keyword(s):  
Fuzzy Logic ◽  
Knowledge Representation ◽  
Fuzzy Inference System ◽  
Fuzzy Inference ◽  
Mathematical Formulation ◽  
Cognitive Map ◽  
Fuzzy Cognitive Map ◽  
Adaptive Networks ◽  
Inference System ◽  
Inference Systems

This chapter presents the mathematical formulation of the fuzzy logic-based inference systems, used as means to infer about the response of ill-conditioned systems, based on the field knowledge representation in the fuzzy world. Particular approaches are explored, e.g., Fuzzy Inference System (FIS), Adaptive Networks-based FIS (ANFIS), Intuitionistic FIS (IFIS) and Fuzzy Cognitive Map (FCM), surfacing their potentialities in modeling applications, such as those in the field of learning, examined in the chapters of Part III that follow.

scholarly journals Genetic fuzzy system for prediction of respiratory rate of chicks subject to thermal challenges

2018 ◽  
Vol 22 (6) ◽  
pp. 412-417 ◽  
Author(s):  
Patrícia F. P. Ferraz ◽  
Tadayuki Yanagi Junior ◽  
Yamid F. Hernandez-Julio ◽  
Gabriel A. e S. Ferraz ◽  
Maria A. J. G. Silva ◽  
...  
Keyword(s):  
Respiratory Rate ◽  
Fuzzy Inference System ◽  
Prediction Accuracy ◽  
Fuzzy Inference ◽  
Fuzzy Rule ◽  
System Model ◽  
Inference System ◽  
Rule Based ◽  
Rule Based System ◽  
Genetic Fuzzy System

ABSTRACT The aim of this study was to estimate and compare the respiratory rate (breath min-1) of broiler chicks subjected to different heat intensities and exposure durations for the first week of life using a Fuzzy Inference System and a Genetic Fuzzy Rule Based System. The experiment was conducted in four environmentally controlled wind tunnels and using 210 chicks. The Fuzzy Inference System was structured based on two input variables: duration of thermal exposure (in days) and dry bulb temperature (°C), and the output variable was respiratory rate. The Genetic Fuzzy Rule Based System set the parameters of input and output variables of the Fuzzy Inference System model in order to increase the prediction accuracy of the respiratory rate values. The two systems (Fuzzy Inference System and Genetic Fuzzy Rule Based System) proved to be able to predict the respiratory rate of chicks. The Genetic Fuzzy Rule Based System interacted well with the Fuzzy Inference System model previously developed showing an improvement in the respiratory rate prediction accuracy. The Fuzzy Inference System had mean percentage error of 2.77, and for Fuzzy Inference System and Genetic Fuzzy Rule Based System it was 0.87, thus indicating an improvement in the accuracy of prediction of respiratory rate when using the tool of genetic algorithms.

Artificial neural networks and adaptive neuro-fuzzy inference systems for parameter identification of dynamic systems

2020 ◽  
Vol 39 (5) ◽  
pp. 6145-6155
Author(s):  
Ramin Vatankhah ◽  
Mohammad Ghanatian
Keyword(s):  
Differential Equations ◽  
Dynamic Systems ◽  
Fuzzy Inference ◽  
Dynamic Equations ◽  
Control Analysis ◽  
Unknown Parameters ◽  
Inference System ◽  
Neuro Fuzzy ◽  
Artificial Neural ◽  
Inference Systems

There would always be some unknown geometric, inertial or any other kinds of parameters in governing differential equations of dynamic systems. These parameters are needed to be numerically specified in order to make these dynamic equations usable for dynamic and control analysis. In this study, two powerful techniques in the field of Artificial Intelligence (AI), namely Artificial Neural Network (ANN) and Adaptive Neuro-Fuzzy Inference System (ANFIS) are utilized to explain how unknown parameters in differential equations of dynamic systems can be identified. The data required for training and testing the ANN and the ANFIS are obtained by solving the direct problem i.e. solving the dynamic equations with different known parameters and input stimulations. The governing ordinary differential equations of the system is numerically solved and the output values in different time steps are obtained. The output values of the system and their derivatives, the time and the inputs are given to the ANN and the ANFIS as their inputs and the unknown parameters in the dynamic equations are estimated as the outputs. Finally, the performances of the ANN and the ANFIS for identifying parameters of the system are compared based on the test data Percent Root Mean Square Error (% RMSE) values.

Demand forecasting in the beauty industry using fuzzy inference systems

2020 ◽  
Vol 15 (4) ◽  
pp. 1389-1417
Author(s):  
Ricardo Felicio Souza ◽  
Peter Wanke ◽  
Henrique Correa
Keyword(s):  
Time Series ◽  
Fuzzy Inference System ◽  
Fuzzy Inference ◽  
Theory And Practice ◽  
Forecast Errors ◽  
Fuzzy Inference Systems ◽  
Inference System ◽  
Content Type ◽  
Forecasting Methods ◽  
Inference Systems

Purpose This study aims to analyze the performance of four different fuzzy inference system-based forecasting tools using a real case company. Design/methodology/approach The forecasting tools were tested using 27 products of the nail polish line of a multinational beauty company and the performance of said tools was compared to those of the company’s previous forecasting methods that were basically qualitative (informal and intuition-based). Findings The performance of the methods analyzed was compared by using mean absolute percentage error. It was possible to determine the characteristics and conditions that make each model the best for each situation. The main takeaways were that low kurtosis, negatively skewed demand time-series and longer horizon forecasts that favor the fuzzy inference system-based models. Besides, the results suggest that the fuzzy forecasting tools should be preferred for longer horizon forecasts over informal qualitative methods. Originality/value Notwithstanding the proposed hybrid modeling approach based on fuzzy inference systems, our research offers a relevant contribution to theory and practice by shedding light on the segmentation and selection of forecasting models, both in terms of time-series characteristics and forecasting horizon. The proposed fuzzy inference systems showed to be particularly useful not only when time-series distributions present no clear central tendency (that is, they are platykurtic or dispersed around a large plateau around the median, which is the characteristic of negative kurtosis), but also when mode values are greater than median values, which in turn are greater than mean values. This large tail to the left (negative skewness) is typical of successful products whose sales are ramping up in early stages of their life cycle. For these, fuzzy inference systems may help managers screen out forecast bias and, therefore, lower forecast errors. This behavior also occurs when managers deal with forecasts of longer horizons. The results suggest that further research on fuzzy inference systems hybrid approaches for forecasting should emphasize short-term forecasting by trying to better capture the “tribal” managerial knowledge instead of focusing on less dispersed and slower moving products, where the purely qualitative forecasting methods used by managers tend to perform better in terms of their accuracy.

scholarly journals Artificial Hydrocarbon Networks Fuzzy Inference System

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Hiram Ponce ◽  
Pedro Ponce ◽  
Arturo Molina
Keyword(s):  
Fuzzy Inference ◽  
Fuzzy Inference Systems ◽  
Inference Model ◽  
Inference System ◽  
Position Controller ◽  
Inference Systems ◽  
Linguistic Units ◽  
Output Space

This paper presents a novel fuzzy inference model based on artificial hydrocarbon networks, a computational algorithm for modeling problems based on chemical hydrocarbon compounds. In particular, the proposed fuzzy-molecular inference model (FIM-model) uses molecular units of information to partition the output space in the defuzzification step. Moreover, these molecules are linguistic units that can be partially understandable due to the organized structure of the topology and metadata parameters involved in artificial hydrocarbon networks. In addition, a position controller for a direct current (DC) motor was implemented using the proposed FIM-model in type-1 and type-2 fuzzy inference systems. Experimental results demonstrate that the fuzzy-molecular inference model can be applied as an alternative of type-2 Mamdani’s fuzzy control systems because the set of molecular units can deal with dynamic uncertainties mostly present in real-world control applications.

Evaluate Fabric Wrinkle Grade Based on Subtractive Clustering Adaptive Network Fuzzy Inference Systems

2011 ◽  
Vol 332-334 ◽  
pp. 1505-1510
Author(s):  
Xiao Bo Yang
Keyword(s):  
Network Inference ◽  
Clustering Algorithm ◽  
Fuzzy Inference ◽  
Real Data ◽  
Subtractive Clustering ◽  
Fuzzy Inference Systems ◽  
Adaptive Network ◽  
Inference System ◽  
Fuzzy Neural ◽  
Inference Systems

In this paper, a new method of subtractive clustering adaptive network fuzzy inference systems is proposed to assess degree of wrinkle in the fabric. The clustering center can be gotten through subtractive clustering algorithm, which is the base to set up adaptive network inference systems. Firstly, subtractive clustering algorithm is used to confirm the structure of fuzzy neural network, then, fuzzy inference system is used to process pattern recognition. Finally, four kinds of fabric wrinkle feature parameters are used to verify the results on real fabric. The results show the applicability of the proposed method to real data.

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