Neuro-Fuzzy Dynamic Obstacle Avoidance for Autonomous Robot Manipulators.

Autonomous robot obstacle avoidance using a fuzzy logic control scheme

Fuzzy improved adaptive neuro-NMPC for online path tracking and obstacle avoidance of redundant robotic manipulators

This paper presents a Nonlinear Model Predictive Control (NMPC) for redundant robotic manipulators. Using NMPC, the end-effector of the robotic manipulator tracks a predefined geometry path in Cartesian space in such a way that no collision with obstacles in the workspace and no singular configurations for the robot occurs. Nonlinear dynamic of the robot, including actuators dynamic, is also co...

Obstacle avoidance for an autonomous vehicle using force field method

This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is  similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are discussed. After that, possible equations as vehicles path ar...

Coordinated Control with Obstacle Avoidance for Robot Manipulators

Problem Description SINTEF and NTNU are, together with StatoilHydro, investigating how to remotely control operations on offshore oil platforms by employing robots. One of the key challenges for remote control of offshore oil platforms is how to endow an onshore operator with the right amount and type of information so that the operator can remotely control the various operations needed to be c...

A neuro fuzzy controller for planar robot manipulators

A neuro fuzzy control algorithm for planar robotic manipulators is developed in this paper. This control algorithm is able to handle uncertainties, disturbances or unmodeled dynamics. Asymptotic stability of the equilibrium state of the control system is shown by use of direct Lyapunov method and Barbalat’s Lemma. A series of simulations confirms the algorithm goodness. Key-Words: fuzzy control...