Optimum path planning of mobile robot in unknown static and dynamic environments using Fuzzy-Wind Driven Optimization algorithm
In: Defence Technology, Band 13, Heft 1, S. 47-58
ISSN: 2214-9147
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In: Defence Technology, Band 13, Heft 1, S. 47-58
ISSN: 2214-9147
In: International journal of social ecology and sustainable development: IJSESD ; an official publication of the Information Resources Management Association, Band 13, Heft 1, S. 1-12
ISSN: 1947-8410
In the coming decades, humanoid robots will play a rising role in society. The present article discusses their walking control and obstacle avoidance on uneven terrain using enhanced spring-loaded inverted pendulum model (ESLIP). The SLIP model is enhanced by tuning it with an adaptive particle swarm optimization (APSO) approach. It helps the humanoid robot to reach closer to the obstacles in order to optimize the turning angle to optimize the path length. The desired trajectory, along with the sensory data, is provided to the SLIP model, which creates compatible COM (center of mass) dynamics for stable walking. This output is fed to APSO as input, which adjusts the placement of the foot during interaction with uneven surfaces and obstacles. It provides an optimum turning angle for shunning the obstacles and ensures the shortest path length. Simulation has been carried out in a 3D simulator based on the proposed controller and SLIP controller in uneven terrain.
In: Defence Technology, Band 14, Heft 6, S. 677-682
ISSN: 2214-9147