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1. Introduction neuro-fuzzy technique that can control the path planning strategy
to reach the target in an unknown environment. Rusu et al. [5] have
ANFIS is the combination of both Fuzzy Logic and Neural Net- developed neuro-fuzzy control system for navigation of a robot.
work. An important property of a fuzzy system is that knowledge They have carry out experiments with the mobile robot in indoor
is represented in the form of the easily comprehensible logical condition. The autonomous mobile robot uses infrared and con-
rules. On the other hand, neural networks have the ability to use tact sensors for detecting targets and avoiding collisions. Er et al.
knowledge and experience. By combining both fuzzy and neural [6,7] have developed hybrid control system of fuzzy logic and
paradigms, neuro-fuzzy controllers can be developed. Fuzzy logic neural network techniques. They implemented their technique in
approach to incorporate the logical inputs of human and take de- Khepera II mobile robot. Lee [8] has used a neural network for be-
cision much faster. Neural controllers learn the discrete input rep- haviour decision controller. The input of the neural network was
resentations, which may cause such system unstable. Hui et al. [1] decided by the distance and existence of other robots. The output
have developed a hybrid technique for navigation system of mobile result determines the directions in which the robots to move. The
robot. They used the neuro-fuzzy controller to find the path plan- connection weight values of this neural network were determined
ning strategy with obstacle avoidance behaviour in a dynamic en- as genes, and the fitness individuals were encoded using a genetic
vironment. Cavalcanti et al. [2] have applied different techniques as algorithm. The fitness values imply how much group behaviours
neural networks, genetic algorithms, and Nano robotics concepts fit adequately to the goal and can express group behaviours.
to solve the problem of automation of mobile robots for the ap- They have validated the system through simulation. Pulasinghe
et al. [9] have developed a fuzzy-neural network methodology for
plication in medicine. Mbede et al. [3] have used intelligent mo-
controlling machines using spoken language commands with the
tion control strategy that makes possible the integration of fuzzy
intention of (i) interpreting natural language words with fuzzy
obstacle avoidance, multisensory based motions, and robust recur-
implications and (ii) screening out-of-vocabulary words, which
rent neural network control. The simulation results, validate under
gives the ability to converse freely without restrictions. Mash-
real conditions, clearly demonstrate that their proposed strategy
hadany [10] has been developed the navigation system for a spher-
is an effective approach. Hegazy et al. [4] have presented a novel
ical wristed robot using adaptive neuro-fuzzy inference system.
The author has found the solution for kinematic problem, local-
ization and navigation. The simulation has been carried out us-
Corresponding author. Tel.: +91 9173417227. ing Simulink/MATLAB. Baturone et al. [11] have been developed
E-mail address: jkpothal@gmail.com (J.K. Pothal). the low-cost control system for navigation of mobile robot using
http://dx.doi.org/10.1016/j.robot.2015.04.007
0921-8890/ 2015 Elsevier B.V. All rights reserved.
J.K. Pothal, D.R. Parhi / Robotics and Autonomous Systems 72 (2015) 4858 49
neuro-fuzzy technique. They have been applied heuristic and Tak- fi is the linear consequent functions defined in terms of the
agiSugeno fuzzy method in this. The controller gives good result inputs (x1 , x2 , x3 and x4 ).
for obstacle avoidance and target seeking. Vatankhah et al. [12] qi , ri , si , ti and ui are the consequent parameters of the ANFIS
have been developed the control system by following undirected fuzzy model.
network and local communications. The neuro-fuzzy technique A, B, C and D are the fuzzy membership sets defined for the
has applied for achieving behaviour control and target seeking. input variables x1 , x2 , x3 and x4 .q1, q2 , q3 and q4, are the number of
Wang et al. [13] have been developed a system for motion con- membership functions for the fuzzy systems of the inputs x1 , x2 , x3
trol and location identification for mobile robotic system in an and x4 respectively. fi is the linear consequent functions defined
unknown and dynamic environment. They have been designed in terms of the inputs (x1 , x2 , x3 and x4 ). pi , ri , si , ti and ui are the
the controller using RFWNNs (recurrent fuzzy wavelet neural net- consequent parameters of the ANFIS fuzzy model. In case of ANFIS,
works). The controller gives good stability as well as location in- the nodes of same layer perform similar functions. The output
formation for the mobile robots. AbuBaker [14] has been proposed signals from the nodes of the previous layer are the input signals
a new control system to achieve collision free navigation system for the current layer [15]. The output obtained with the help of the
using hybrid neuro-fuzzy methodology. He has used large num- node function will be the input signals for the subsequent layer
ber of ifthen rule and selected the optimum number of activation (Fig. 1).
rules to reduce the time in practical application. The simulation and The input layer receives signal from arrays of sensors x1 , x2 x3 ,
experiments have been carried out to test the performance of the
x4 , which defines the static as well as moving obstacles, and target
controller.
poisons from the target tracker robot. The target position measured
according to the target coordinates. The coordinates are given
2. Analysis of adaptive neuro-fuzzy inference system (ANFIS) to the robots during navigation. The robot measures its global
position according to its wheel movements during navigation.
ANFIS is a fuzzy inference system implemented in the frame-
work of adaptive networks. The main aim of ANFIS is to borrow the Layer 1: Every node in this layer is an adaptive node (square
learning capability from the Neural Network and put this in Fuzzy node) with a particular fuzzy membership function (node function)
Inference System, i.e. superimpose of Fuzzy Inference System over specifying the degrees to which the inputs satisfy the quantifier.
a Neural layer architecture. Then the FIS will able to learn the train- For four inputs the outputs from nodes are given as follows:
ing procedure as in Neural Network and after the learning mecha- L1,g = Ag (x) for g = 1, . . . , q1 (For input x1 )
nism the Fuzzy Inference System will behave exactly as the Neural
Network. In NN there will be input layer, output layer and multiple where x is the input to node i, and A is the linguistic label (small,
hidden layers inside. The number inputs to the system are equal to large, etc.) associated with this node function. In other words, L1, g
the number of neurons that the network has. Each neuron behaves is the membership function of A and it specifies the degree to which
as a processing element. In case of FIS, the input has given some the given x satisfies the quantifier Ag.
membership function. The way of the input membership functions
combines or interacting among each other, is called as the rule. The L1,g = Bg (x) for g = q1 + 1, . . . , q1 + q2 (For input x2 )
rules have two parts; (a) antecedent and (b) consequent. Both of L1,g = Cg (x) for g = q1 + q2 + 1, . . . , q1 + q2 + q3
these parts are handled separately and then fusion and integration (For input x3 )
of all the rules give the output. The output is defuzzyfied to get the L1,g = Dg (x) for g = q1 + q2 + q3 + 1, . . . ,
result. q1 + q2 + q3 + q4 (For input x4 ).
ANFIS is five layer architecture. It is a specially grown multilayer
perception of limited connectivity, not the detailed architecture. Here the membership function for A, B, C and D considered are the
ANFIS is an integrated system of both artificial neural network bell shaped function and are defined as follows:
(ANN) and fuzzy inference system (FIS). The ANFIS analysed here
is a first order TakagiSugeno Fuzzy Model (Fig. 1). In the current 1
Ag (x) = 2 bg ; g = 1 to q1 ; (2)
analysis there are four inputs and one output. They are as follows:
x cg
1+ ag
Inputs
(1) Front obstacle distance (x1 ) 1
(2) (2) Right obstacle distance (x2 )
Bg (x) = 2 bg ; g = q1 + 1 to q1 + q2 (3)
x cg
(3) Left obstacle distance (x3 ) 1+ ag
(4) Target angle (x4 )
1
Output Cg (x) = 2 bg ;
x cg
(1) Steering angle 1+ ag
Layer 2: Every node in this layer is a fixed node (circular) labelled summation of all incoming signals.
as . The output denoted by L2,i is the product of all incoming
i=q1 .q2 .q3 .q4
signal.
i=q1 .q2 .q3 .q4 Wi f i
L2,i = Wi = Ag (x) , Bg (x) , Cg (x) , Dg (x) ; i0
(6) L 5 ,i = W i fi =
i=q1 .q2 .q3 .q4
. (9)
for i = 1, . . . , q1 , q2 , q3 , q4 and g = 1, . . . , i 0
Wi
q1 + q2 + q3 + q4 . i0
The output of each node of the second layer represents the firing In the current developed ANFIS structure there are six
strength (degree of fulfilment) of the associated rule. The T -norm dimensional space partitions and has q1 q2 q3 q4 regions.
operator algebraic product {Tap (a, b) = ab}, has been used to Each region is governed by a fuzzy ifthen rule. The first layer is
obtain the firing strength (Wi ). the input layer. The first layer (consists of premise or antecedent
parameters) of the ANFIS and is dedicated to fuzzy sub space. The
Layer 3: Every node in this layer is a fixed node (circular) labelled second and third layers are fixed nodes (circular) labelled as
as N. The output of the ith node is calculated by taking the ratio of and N. The fourth layer has consequent parameters and is used to
firing strength of ith rule (Wi ) to the sum of all rules firing strength. optimize the network. The first order TakagiSugeno model is used
Wi for difuzzyfication in fourth and fifth layer. During the forward pass
L3,i = W i = r =q .q .q .q
1 2 3 4
. (7) of the hybrid learning algorithm node outputs go forward till layer
Wr four and the consequent parameters are identified by least square
r 1 method.
This output gives a normalized firing strength.
3. Simulation for mobile robot navigation
Layer 4: All the nodes in this layer are adaptive node (square node)
with a node function.
3.1. Problem description
L4,i = W i fi = W i (pi x1 + ri x2 + si x3 + ti x4 + ui ) (8)
Here the main aim is to modelling and implementation of
where W i is a normalized firing strength form (output) from ANFIS controller for the navigation of mobile robots in a dynamic
layer 3 and {pi , ri , si , ti , ui } is the parameter set for steering angle. environment without collision with obstacle and reach the target
Parameters in this layer are referred to as consequent parameters. with shortest path and within minimum time. The environment is
Layer 5: The single node in this layer is a fixed node (circular) having obstacles of different shapes and may be static or dynamic.
labelled as , which computes the overall output as the During motion of robots, for one robot, other robots behave as
J.K. Pothal, D.R. Parhi / Robotics and Autonomous Systems 72 (2015) 4858 51
dynamic obstacles. The controller should easily detect the position 3.3.1. Effect of different types of obstacles during navigation
of obstacles and take decision quickly. Here the map is 2-D square The simulation has been carried out with four robots with
and the map consists of 10 10 grids. different shape and types of obstacles with one target. The robots
show the obstacle avoidance behaviour when they reach in the
3.2. Proposed solution range of certain distance. (see Fig. 3).
3.3.2. Wall following behaviour of Mobile robots
Here the ANFIS controller has designed and implemented in
Khepera robots for navigation. The simulation results are obtained 3.4. Comparison of results with other researchers
with the help of ROBNAV software being developed in Robotics lab.
The obstacle avoidance and target seeking behaviours are achieved In the similar environments the developed ANFIS technique is
for four mobile robots using this software. This software is effective found to be more efficient in reference to the navigational path. The
Fig. 3. (i) Robots avoiding obstacles searching the target (stage-1); (ii) Robots avoiding obstacles and heading towards target (stage-2); (iii) Avoiding obstacles the robots
reaching the target (stage-3); (iv) All robots reached the target (stage-4).
52 J.K. Pothal, D.R. Parhi / Robotics and Autonomous Systems 72 (2015) 4858
Fig. 6. Initial stage for navigation of 90 mobile robots, showing different types of
obstacles and two targets.
Fig. 4. (a) Simulation result of Nefti et al. [16] (b) Simulation result of proposed The experiments have been carried out taking 90 robots into
controller with showing Wall following Behaviour. consideration with two target points (see Fig. 6). The simulation
Fig. 5. (a) and (b) Simulation result Garbi et al. [17]. (c) and (d) Results of proposed ANFIS approach during simulation in highly cluttered environment.
J.K. Pothal, D.R. Parhi / Robotics and Autonomous Systems 72 (2015) 4858 53
Fig. 7. (a) Intermediate stage of navigation of multiple mobile robots; (b) All robots reached the target.
Fig. 8. Shortest path travelled by individual robots to reach the target. Fig. 9. Shortest path travelled by single robot with ANFIS.
shows that the robots reach the target efficiently and choose the
nearest target (see Fig. 7).
Fig. 12. Comparison of path length for simulation and experimental results by single robot using ANFIS.
Fig. 13. Comparison of the time taken for simulation and experimental results by single robot using ANFIS.
Fig. 14. Comparison of path length for simulation and experimental results by 4 robots using ANFIS.
J.K. Pothal, D.R. Parhi / Robotics and Autonomous Systems 72 (2015) 4858 55
Fig. 15. Comparison of the time taken for simulation and experimental results by four robots using ANFIS.
4. Experimental results
Table 1
Average path length (in pixelsa ) of 50 trials.
Case no. The number of robots
1 4 10 100 500
Table 2
Comparison of path length for simulation and experimental results by single robot using ANFIS.
Case number Simulation result (in pixel) Experimental result (in pixel) Percentage error
Table 3
Comparison of the time taken for simulation and experimental results by single robot using ANFIS.
Case no. Simulation result (in Experimental result (in Percentage error
second) second)
the output is steering angle. Using ANFIS controller during the position of obstacles. The behaviour of individual mobile robots as
experiment different navigational paths are traced (see Fig. 17) and well as in group has also been observed. During experiment and
are compared with the simulation results. simulation the path length decreases with increase in trials. But
after some time the optimal path is detected by the mobile robots
5. Comparison of simulation and experimental results and after that they follow the same path for further experiment for
same controller.
Comparison of simulation and experimental results has been
shown in Fig. 18. The experiments have been carried out for four 5.1. Conclusion
mobile robots. The best result of 50 trails during experiment and
simulation has been shown in the figure. To compare the results, On the basis of the above results (simulation and experimental),
several experiments have been carried out considering the same it has been found ANFIS controller can be useful for mobile robots
J.K. Pothal, D.R. Parhi / Robotics and Autonomous Systems 72 (2015) 4858 57
Table 4
Comparison of path length for simulation and experimental results by 4 robots using ANFIS.
Case number Simulation result (in pixel) Experimental result (in pixel) Percentage error
Table 5
Comparison of the time taken for simulation and experimental results by four robots using ANFIS.
Case no. Simulation result (in Experimental result (in Percentage error
second) second)
References
Jayanta Kumar Pothal was born in India. He has received Dayal R. Parhi, was born in India. He has received the Ph.D.
the Ph.D. degree in Mechanical Engineering from National degree in Robotics and Artificial Intelligence from Cardiff
Institute of Technology, Rourkela. He is presently working Univ. and presently working as Professor, Department of
as Senior Scientist in Council of Scientific and Industrial Mechanical Engineering, National Institute of Technology
Research (CSIR), Ministry of Science and Technology, Rourkela, India.
Government of India.