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A fuzzy-tabu real time controller for sampling-based motion planning in unknown environment

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dc.citedby9
dc.contributor.authorKhaksar W.en_US
dc.contributor.authorHong T.S.en_US
dc.contributor.authorKhaksar M.en_US
dc.contributor.authorMotlagh O.en_US
dc.contributor.authorid54960984900en_US
dc.contributor.authorid8231495000en_US
dc.contributor.authorid55350135000en_US
dc.contributor.authorid25641787000en_US
dc.date.accessioned2023-05-16T02:45:48Z
dc.date.available2023-05-16T02:45:48Z
dc.date.issued2014
dc.description.abstractSampling-based path planning methods for autonomous agents are one of the well-known classes of robotic navigation approaches with significant advantages including ease of implementation and efficiency in problems with high degrees of freedom. However, there are some serious drawbacks like inability to plan in unknown environments, failure in complex workspaces, instability of results in different runs, and generating non-optimal solutions; which make sampling-based planners less efficient in practice. In this paper, a fuzzy controller is proposed which utilizes the heuristic rules of Tabu search to improve the quality of generated samples. The main contribution of this work is the ability of the proposed sampling-based planner to work effectively in unknown environments and to plan efficiently in complex workspaces by letting the fuzzy-Tabu controller check the quality of the generated samples before any further processing. The efficiency of the proposed planner is tested in several workspaces and the comparison studies show significant improvement in runtime and failure rate. Furthermore, the decision variables of the proposed controller are discussed in detail to determine their effect on the performance of the algorithm. © 2014, Springer Science+Business Media New York.en_US
dc.description.natureFinalen_US
dc.identifier.doi10.1007/s10489-014-0572-7
dc.identifier.epage886
dc.identifier.issue3
dc.identifier.scopus2-s2.0-84918819113
dc.identifier.spage870
dc.identifier.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84918819113&doi=10.1007%2fs10489-014-0572-7&partnerID=40&md5=c0944bd4e2ba09a9ccac9ddd32f9539b
dc.identifier.urihttps://irepository.uniten.edu.my/handle/123456789/21868
dc.identifier.volume41
dc.publisherKluwer Academic Publishersen_US
dc.relation.ispartofAll Open Access, Green
dc.sourceScopus
dc.sourcetitleApplied Intelligence
dc.titleA fuzzy-tabu real time controller for sampling-based motion planning in unknown environmenten_US
dc.typeArticleen_US
dspace.entity.typePublication
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