پديد آورنده :
رفاهي نزهت، امين
عنوان :
ناوبري يك ربات متحرك در حضور موانع به كمك الگوريتم فازي- ژنتيك
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
نه، [96] ص: مصور، جدول، نمودار
يادداشت :
ص.ع. به فارسي و انگليسي
استاد راهنما :
مصطفي غيور
توصيفگر ها :
نگرش سنسوري , ربات ها
تاريخ نمايه سازي :
26/10/88
استاد داور :
كشميري، دانش
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتال
چكيده انگليسي :
Navigation of a Mobile Robot in Presence of Obstacles Using Genetic Fuzzy Approach Amin Refahi Nozhat Amin refahi62@yahoo com 4 6 2009 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc language FarsiMostafa Ghayour ghayour@cc iut ac irAbbas Fattah fattah@cc iut ac irAbstractCollision free navigation of a 2 dimentional wheeled mobile robot in the presence of staticand quasi static obstacles is undertaken in the present study Two soft computingapproaches based on sensory detection namely Goal oriented fuzzy strategy and Genetic fuzzy approach have been developed for this purpose The main advantage of sensor basedapproaches is that the robot can navigate safely in a dynamic environment by reacting toobstacles detected by sensors A major drawback is that due to the limitation of sensors the robot may get lost even if a path to the goal exists In fuzzy approach some short rangesensors such as infrared proximity light sensors or touch sensors are used to keep the robotfree from collisions In this approach there is no explicit fuzzy rule for motion planning Inother words information about obstacles is used simultaneously as local information which may result in a shortsighted behavior in some situations The proposed Genetic fuzzy approach optimizes two desired parameters namely length of path and difference ofrobot rotations in every two steps by finding an optimal fuzzy rule base Rather than thefuzzy strategy in genetic fuzzy approach the fuzzy rule base is explicit Fuzzy functionsconsist of two inputs and one output The first input is as distance form and second inputand output are as angle form The results of a number of problem scenarios in GUIMATLAB and also comparision between two methods are presented in the results Key WordsSensor based fuzzy approach genetic fuzzy obstacle mobile robot navigation
استاد راهنما :
مصطفي غيور
استاد داور :
كشميري، دانش
