Fuzzy Support Vector Machine-based Multi-agent Optimal Path

Defence Science Journal

K.J Poornaselvan²  M. Sethumadhavan³  Gireesh Kumar T¹ 

[1] Amrita Vishwa Vidyapeetham, Coimbatore;Govt. College of Technology, Coimbatore;Amrita Vishwa Vidyapeetham University, Coimbatore

关键词: Fuzzy logic;    fuzzy support vector machine;    FSVM;    optimal path planning;    multi-agent;    mobile robot;   

DOI  :  

学科分类：社会科学、人文和艺术（综合）

来源: Defence Scientific Information & Documentation Centre

【 摘 要 】

A mobile robot to navigate purposefully from a start location to a target location, needs three basic requirements: sensing, learning, and reasoning. In the existing system, the mobile robot navigates in a known environment on a predefined path. However, the pervasive presence of uncertainty in sensing and learning, makes the choice of a suitable tool of reasoning and decision-making that can deal with incomplete information, vital to ensure a robust control system. This problem can be overcome by the proposed navigation method using fuzzy support vector machine (FSVM). It proposes a fuzzy logic-based support vector machine (SVM) approach to secure a collision-free path avoiding multiple dynamic obstacles. The navigator consists of an FSVM-based collision avoidance. The decisions are taken at each step for the mobile robot to attain the goal position without collision. Fuzzy-SVM rule bases are built, which require simple evaluation data rather than thousands of input-output training data. The effectiveness of the proposed method is verified by a series of simulations and implemented with a microcontroller for navigation. Defence Science Journal, 2010, 60(4), pp.387-391 , DOI:http://dx.doi.org/10.14429/dsj.60.496

【 授权许可】

Unknown