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Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm

Journal of Robotics, 2018-01, Vol.2018, p.1-7 [Peer Reviewed Journal]

Copyright © 2018 Nga Thi-Thuy Vu et al. ;COPYRIGHT 2018 Hindawi Limited ;Copyright © 2018 Nga Thi-Thuy Vu et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0 ;ISSN: 1687-9600 ;EISSN: 1687-9619 ;DOI: 10.1155/2018/2571243

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Title:
Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm
Author: Vu, Nga Thi-Thuy ; Tran, Nam Phuong ; Nguyen, Nam Hoai
Hu, Huosheng ; Huosheng Hu
Subjects: Adaptive systems ; Algorithms ; Artificial neural networks ; Automation ; Computer simulation ; Construction equipment industry ; Excavating machinery ; Excavators ; Fuzzy logic ; Fuzzy sets ; Fuzzy systems ; Inference ; International conferences ; Kinematics ; Neural networks ; Optimization ; Planning ; Problems ; Robotics ; Robots ; Trajectories ; Trajectory planning
Is Part Of: Journal of Robotics, 2018-01, Vol.2018, p.1-7
Description: This paper presents a scheme based on Adaptive Neuro-Fuzzy Inference Systems (ANFIS) to generate trajectory for excavator arm. Firstly, the trajectory is predesigned with some specific points in the work space to meet the requirements about the shape. Next, the inverse kinematic is used and optimization problems are solved to generate the via-points in the joint space. These via-points are used as training set for ANFIS to synthesis the smooth curve. In this scheme, the outcome trajectory satisfies the requirements about both shape and optimization problems. Moreover, the algorithm is simple in calculation as the numbers of via-points are large. Finally, the simulation is done for two cases to test the effect of ANFIS structure on the generated trajectory. The simulation results demonstrate that, by using suitable structure of ANFIS, the proposed scheme can build the smooth trajectory which has the good matching with desired trajectory even that the desired trajectory has the complicated shape.
Publisher: New York: Hindawi
Language: English
Identifier: ISSN: 1687-9600
EISSN: 1687-9619
DOI: 10.1155/2018/2571243
Source: ROAD: Directory of Open Access Scholarly Resources
ProQuest Central
DOAJ Directory of Open Access Journals

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Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm

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