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Print: ISSN 0914-4935
Online: ISSN 2435-0869
Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
Online: ISSN 2435-0869
Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
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Sensors and Materials
is covered by Science Citation Index Expanded (Clarivate Analytics), Scopus (Elsevier), and other databases.
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Sensors and Materials
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is covered by Science Citation Index Expanded (Clarivate Analytics), Scopus (Elsevier), and other databases.
Instructions to authors
English 日本語
Instructions for manuscript preparation
English 日本語
Template
English
Publisher
MYU K.K.
Sensors and Materials
1-23-3-303 Sendagi,
Bunkyo-ku, Tokyo 113-0022, Japan
Tel: 81-3-3827-8549
Fax: 81-3-3827-8547
MYU Research, a scientific publisher, seeks a native English-speaking proofreader with a scientific background. B.Sc. or higher degree is desirable. In-office position; work hours negotiable. Call 03-3827-8549 for further information.
MYU Research
(proofreading and recording)
MYU K.K.
(translation service)
The Art of Writing Scientific Papers
(How to write scientific papers)
(Japanese Only)
Sensors and Materials, Volume 31, Number 9(1) (2019)
Copyright(C) MYU K.K.
Copyright(C) MYU K.K.
|
pp. 2735-2751
S&M1969 Research Paper of Special Issue https://doi.org/10.18494/SAM.2019.2343 Published: September 9, 2019 Using a Type-2 Neural Fuzzy Controller for Navigation Control of Evolutionary Robots [PDF] Cheng-Jian Lin, Jyun-Yu Jhang, and Kuu-Young Young (Received February 20, 2019; Accepted August 1, 2019) Keywords: mobile robot, type-2 fuzzy neural controller, whale optimization algorithm, navigation control, wall-following control
In this paper, we present an effective navigation control method for mobile robots in an unknown environment. The proposed behavior manager (BM) switches between two behavioral control patterns, wall-following behavior (WFB) and toward-goal behavior (TGB), on the basis of the relationship between the mobile robot and the unknown environment. A type-2 neural fuzzy controller (T2NFC) with an improved whale optimization algorithm (IWOA) is proposed to provide WFB control and obstacle avoidance for mobile robots. In the WFB learning process, the input signal of a controller is the distance between the wall and the sonar sensors, and its output signal is the speed of two wheels of a mobile robot. A fitness function, which operates on the total distance traveled by the mobile robot, distance from the side wall, angle to the side wall, and moving speed, evaluates the WFB performance of the mobile robot. Experimental results reveal that the proposed IWOA is superior to other methods of WFB and navigation control.
Corresponding author: Cheng-Jian Lin  This work is licensed under a Creative Commons Attribution 4.0 International License. Cite this article Cheng-Jian Lin, Jyun-Yu Jhang, and Kuu-Young Young, Using a Type-2 Neural Fuzzy Controller for Navigation Control of Evolutionary Robots, Sens. Mater., Vol. 31, No. 9, 2019, p. 2735-2751. |
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