Izvorni znanstveni članak
https://doi.org/10.1080/00051144.2024.2391246
Intelligent controller design of an autonomous system using a social spider optimizer for path navigation and obstacle avoidance
Naimul Hasan
; Department of Electrical Engineering, College of Engineering, Qassim University, Buraydah, Saudi Arabia
*
Huma Khan
; Department of Electrical & ECE, Galgotias University, Greater Noida, India
Shahida Khatoon
; Department of Electrical Engineering, Jamia Millia Islamia, Delhi, India
Mohammad Sajid
; Department of Mechanical Engineering, College of Engineering, Qassim University, Buraydah, Saudi Arabia
* Dopisni autor.
Sažetak
This research paper proposes a hybrid fuzzy logic controller for achieving autonomous path navigation and obstacle avoidance through the use of the Social Spider Optimizer algorithm. The
proposed controller employs kinematic modelling to determine the mobile robot’s path navigation and utilizes a fuzzy logic system for effective control. The Social Spider Optimizer algorithm
optimizes the parameters of the fuzzy controller, while the FLC is responsible for obstacle avoidance. The effectiveness of the proposed controller has been analyzed, and a comparative study
has been carried out with optimization techniques like particle swarm optimization (PSO) and
cuckoo search optimization (CSO) controllers. The study aims to propose a hybrid fuzzy logic
controller, that provides efficient navigation and obstacle avoidance for mobile robots. In a simulation, the starting point is considered as (0,0) and the destination point is set as Xk = 1.1 and
Yk = 1.2. The performance of the proposed method is compared with FLC and methods like PSO
and CSO. With the SSO-based FLC, the proposed mobile robot identifies the obstacle distance
and travels towards the destination with smooth navigation. The results show the efficacy of
the proposed controller in comparison to other controllers for mobile robots in terms of path
navigation and obstacle avoidance.
Ključne riječi
Mobile robot; social spider optimization; particle swarm optimization; cuckoo search optimization; fuzzy logic controller; path navigation
Hrčak ID:
326337
URI
Datum izdavanja:
26.8.2024.
Posjeta: 0 *