A simulation medium for a single wheel mobile robot using neurofuzzy

Maki K. Rashid, Abdullah M. Al-Shabibi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The stabilization of a single wheel mobile robot has attracted several studies in robotic area. However, the budget required for building experimental setups capable of investigating isolated parameters has generated concerns for implementing new simulation methods and techniques. In this work a simulation platform for testing different control tactics to stabilize a single wheel mobile robot has been developed. The graphical representation of the robot, the dynamic solution, and the control scheme are all integrated on a common computer platform using Visual Basic. Simulation indicates that by using manual operation we can build a control scheme for such robot without knowing details regarding its internal structure or dynamic behaviour. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance.

Original languageEnglish
Title of host publicationProceedings of the IASTED International Conference on Robotics and Applications
Pages19-24
Number of pages6
Publication statusPublished - 2006
Event12th IASTED International Conference on Robotics and Applications, RA 2006 - Honolulu, HI, United States
Duration: Aug 14 2006Aug 16 2006

Other

Other12th IASTED International Conference on Robotics and Applications, RA 2006
CountryUnited States
CityHonolulu, HI
Period8/14/068/16/06

Fingerprint

Mobile robots
Wheels
Robots
Controllers
Robotics
Stabilization
Computer simulation
Testing

Keywords

  • ANFIS
  • Gyrover
  • Mobile robot
  • Neurofuzzy control

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Mechanical Engineering

Cite this

Rashid, M. K., & Al-Shabibi, A. M. (2006). A simulation medium for a single wheel mobile robot using neurofuzzy. In Proceedings of the IASTED International Conference on Robotics and Applications (pp. 19-24)

A simulation medium for a single wheel mobile robot using neurofuzzy. / Rashid, Maki K.; Al-Shabibi, Abdullah M.

Proceedings of the IASTED International Conference on Robotics and Applications. 2006. p. 19-24.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rashid, MK & Al-Shabibi, AM 2006, A simulation medium for a single wheel mobile robot using neurofuzzy. in Proceedings of the IASTED International Conference on Robotics and Applications. pp. 19-24, 12th IASTED International Conference on Robotics and Applications, RA 2006, Honolulu, HI, United States, 8/14/06.
Rashid MK, Al-Shabibi AM. A simulation medium for a single wheel mobile robot using neurofuzzy. In Proceedings of the IASTED International Conference on Robotics and Applications. 2006. p. 19-24
Rashid, Maki K. ; Al-Shabibi, Abdullah M. / A simulation medium for a single wheel mobile robot using neurofuzzy. Proceedings of the IASTED International Conference on Robotics and Applications. 2006. pp. 19-24
@inproceedings{fda3763b7745434d84ed89f578fa2460,
title = "A simulation medium for a single wheel mobile robot using neurofuzzy",
abstract = "The stabilization of a single wheel mobile robot has attracted several studies in robotic area. However, the budget required for building experimental setups capable of investigating isolated parameters has generated concerns for implementing new simulation methods and techniques. In this work a simulation platform for testing different control tactics to stabilize a single wheel mobile robot has been developed. The graphical representation of the robot, the dynamic solution, and the control scheme are all integrated on a common computer platform using Visual Basic. Simulation indicates that by using manual operation we can build a control scheme for such robot without knowing details regarding its internal structure or dynamic behaviour. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance.",
keywords = "ANFIS, Gyrover, Mobile robot, Neurofuzzy control",
author = "Rashid, {Maki K.} and Al-Shabibi, {Abdullah M.}",
year = "2006",
language = "English",
isbn = "0889865957",
pages = "19--24",
booktitle = "Proceedings of the IASTED International Conference on Robotics and Applications",

}

TY - GEN

T1 - A simulation medium for a single wheel mobile robot using neurofuzzy

AU - Rashid, Maki K.

AU - Al-Shabibi, Abdullah M.

PY - 2006

Y1 - 2006

N2 - The stabilization of a single wheel mobile robot has attracted several studies in robotic area. However, the budget required for building experimental setups capable of investigating isolated parameters has generated concerns for implementing new simulation methods and techniques. In this work a simulation platform for testing different control tactics to stabilize a single wheel mobile robot has been developed. The graphical representation of the robot, the dynamic solution, and the control scheme are all integrated on a common computer platform using Visual Basic. Simulation indicates that by using manual operation we can build a control scheme for such robot without knowing details regarding its internal structure or dynamic behaviour. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance.

AB - The stabilization of a single wheel mobile robot has attracted several studies in robotic area. However, the budget required for building experimental setups capable of investigating isolated parameters has generated concerns for implementing new simulation methods and techniques. In this work a simulation platform for testing different control tactics to stabilize a single wheel mobile robot has been developed. The graphical representation of the robot, the dynamic solution, and the control scheme are all integrated on a common computer platform using Visual Basic. Simulation indicates that by using manual operation we can build a control scheme for such robot without knowing details regarding its internal structure or dynamic behaviour. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance.

KW - ANFIS

KW - Gyrover

KW - Mobile robot

KW - Neurofuzzy control

UR - http://www.scopus.com/inward/record.url?scp=54949112495&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=54949112495&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:54949112495

SN - 0889865957

SN - 9780889865952

SP - 19

EP - 24

BT - Proceedings of the IASTED International Conference on Robotics and Applications

ER -