SISTEM PENENTU GERAKAN MOBILE ROBOT YANG BELAJAR SENDIRI CARA UNTUK BERGERAK MAJU DAN MENGINDARI TRABRAKAN MENGGUNAKAN NEURAL NETWORK (NN)
Keywords: kendali gerakan, mobile robot, NN, on-line
Abstract
Commonly used for driving mobile robot is by using certain pre defined algorithm. This research will try to develop driving technique using continuous self learning NN while mobile robot on go. This research only observe about how mobile robot by it self can move forward an how to avoid a collision. Program NN will try to learn how to move forward, backward, turn left, turn right or other possibility depend on or by using collision experience. The test results obtained 82% successful runs forward and approximately 90% managed to avoid a collision.
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References
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Dan, P.K. (2009). Obstacle avoidance method for a mobile robot. Thammasat Int. J. Sc. Tech., Vol. 14(4), October-December 2009.
Doitsidis, L., Valavanis, K. P., & Tsourveloudis, N.C. (2002). Fuzzy logic based autonomous skid steering vehicle navigation. Proceeding of the 2002 IEEE International Conference on Robotics & Automation Washington, DC May 2002.
Freeman, J.A. & Skapura, D.M. (1992), Neural networks, algorithms, applications, and programming techniques, New York: Addison-Wasley.
Gavrilov, A.V & Lee S. (2007). An architecture of hybrid neural network based navigation system for mobile robot. Proceedings of the Seventh International Conference on Intelligent Systems Design and Applications.Pages: 587-590.
Hachour, O. (2008). Path planning of Autonomous mobile robot. International Journal Of Systems Applications, Engineering & Development. 4(2).
Tahboub K.K., & Munaf. (2009). A neuro-fuzzy reasoning system for mobile robot navigation. Jordan Journal of Mechanical and Industrial Engineering. Volume 3(1), 77 88.
Kim C. Ng, & Mohan M.T. (1998). A neuro-fuzzy controller for mobile robot navigation and multirobot convoying. IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICSPART B: CYBERNETICS, Vol. 28(6), December 1998.
Kumar, P, Jindal. N, Jindal. A & Chhabra.S. (2010). A Robust Algorithm for Local Obstacle Avoidance. International Journal of Computer Theory and Engineering. June, 2010; Vol. 2(3).
Kumar, S.M, Parhi D.R., & Pothal J.K. (2009). ANFIS approach for navigation of mobile robots. International Conference on Advances in Recent Technologies in Communication and Computing.
Pennacchio, S, Abissi, F., Petralia S., & Stendardo, G. (2005). New intelligent controller for mobile robot navigation in unknown environments. Proceedings of the 6th WSEAS Int. Conf. on FUZZY SYSTEMS, Lisbon, Portugal, June 16-18, (pp79-82).
Singh, M.K., Dayal R. Parhi. (2009). Intelligent neuro-controller for navigation of mobile robot. Proceedings of the International Conference on Advances in Computing, Communication and Control, Mumbai, India, Pages: 123-128.
Lin S.W, & Yang P.C. (2008). Adaptive critic motion control design of autonomous wheeled mobile robot by dual heuristic programming. Journal Automatica 44.
Dan, P.K. (2009). Obstacle avoidance method for a mobile robot. Thammasat Int. J. Sc. Tech., Vol. 14(4), October-December 2009.
Doitsidis, L., Valavanis, K. P., & Tsourveloudis, N.C. (2002). Fuzzy logic based autonomous skid steering vehicle navigation. Proceeding of the 2002 IEEE International Conference on Robotics & Automation Washington, DC May 2002.
Freeman, J.A. & Skapura, D.M. (1992), Neural networks, algorithms, applications, and programming techniques, New York: Addison-Wasley.
Gavrilov, A.V & Lee S. (2007). An architecture of hybrid neural network based navigation system for mobile robot. Proceedings of the Seventh International Conference on Intelligent Systems Design and Applications.Pages: 587-590.
Hachour, O. (2008). Path planning of Autonomous mobile robot. International Journal Of Systems Applications, Engineering & Development. 4(2).
Tahboub K.K., & Munaf. (2009). A neuro-fuzzy reasoning system for mobile robot navigation. Jordan Journal of Mechanical and Industrial Engineering. Volume 3(1), 77 88.
Kim C. Ng, & Mohan M.T. (1998). A neuro-fuzzy controller for mobile robot navigation and multirobot convoying. IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICSPART B: CYBERNETICS, Vol. 28(6), December 1998.
Kumar, P, Jindal. N, Jindal. A & Chhabra.S. (2010). A Robust Algorithm for Local Obstacle Avoidance. International Journal of Computer Theory and Engineering. June, 2010; Vol. 2(3).
Kumar, S.M, Parhi D.R., & Pothal J.K. (2009). ANFIS approach for navigation of mobile robots. International Conference on Advances in Recent Technologies in Communication and Computing.
Pennacchio, S, Abissi, F., Petralia S., & Stendardo, G. (2005). New intelligent controller for mobile robot navigation in unknown environments. Proceedings of the 6th WSEAS Int. Conf. on FUZZY SYSTEMS, Lisbon, Portugal, June 16-18, (pp79-82).
Singh, M.K., Dayal R. Parhi. (2009). Intelligent neuro-controller for navigation of mobile robot. Proceedings of the International Conference on Advances in Computing, Communication and Control, Mumbai, India, Pages: 123-128.
Lin S.W, & Yang P.C. (2008). Adaptive critic motion control design of autonomous wheeled mobile robot by dual heuristic programming. Journal Automatica 44.
Published
Sep 15, 2011
DOI:
How to Cite
Puspita, E. . (2011). SISTEM PENENTU GERAKAN MOBILE ROBOT YANG BELAJAR SENDIRI CARA UNTUK BERGERAK MAJU DAN MENGINDARI TRABRAKAN MENGGUNAKAN NEURAL NETWORK (NN). Jurnal Matematika Sains Dan Teknologi, 12(2), 68–79. https://doi.org/10.33830/jmst.v12i2.514.2011
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