| || Fuzzy Support Vector Machine-based Multi-agent Optimal Path Planning Approach to Robotics Environment
Author : T., Gireesh Kumar;Poornaselvan, K.J.;Sethumadhavan, M.
Source : Defence Science Journal ; Vol:60(4) ; 2010 ; pp 387-391
Subject : 681.3 Computer Science;681.3:355 Computer Applications in Defence;Defence Science Journal
Keywords : Fuzzy logic;fuzzy support vector machine;FSVM;optimal path planning;multi-agent;mobile robot;robotic navigation
Abstract : 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.