Z-Number-Based Fuzzy Logic Approach for Mobile Robot Navigation

被引：0
作者：
Khan, Osama Ali [1 ]
Kunwar, Faraz [1 ]
Khan, Umar Shahbaz [1 ]
Jabbar, Hamid [1 ]
机构：
[1] Natl Univ Sci & Technol NUST, Islamabad 44000, Pakistan
来源：
IEEE ACCESS | 2023年 / 11卷
关键词：
Z-number; fuzzy logic; mobile robot navigation; path planning; obstacles avoidance; simultaneous localization and mapping (SLAM); TRAJECTORY-TRACKING;
D O I：
10.1109/ACCESS.2023.3336014
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The primary objective of this study is to investigate the effects of mobile robot navigation using a fuzzy logic framework based on Z-numbers implemented within the Robot Operating System (ROS) Noetic. The methodology addresses uncertainty and imprecise information in robot navigation using extensive simulations performed using the TurtleBot3 robot in the ROS framework. Our unique approach enables the autonomous navigation of mobile robots in unknown environments, utilizing fuzzy rules with multiple inputs and outputs. The navigation strategy relies on the laser scan sensor, the Adaptive Monte Carlo Localization (AMCL) algorithm, and particle filter mapping, enabling real-time localization and mapping capabilities. Path planning incorporates local and global planners, while obstacle avoidance generates collision-free paths by dynamically detecting and circumventing obstacles in the robot's proximity. We employ Simultaneous Localization and Mapping (SLAM) techniques to estimate the robot's position and create a map of the environment. Our integration of these methods presents a promising solution for autonomous mobile robot navigation in real-world applications, thereby advancing the capabilities of robot systems in complex environments. Our results demonstrate the suitability and effectiveness of using a Z-number-based system in the navigation scenarios of mobile robots.
引用
收藏
页码：131979 / 131997
页数：19
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