Fuzzy Support Vector Machine-based Multi-agent Optimal Path

Gireesh Kumar T; K.J Poornaselvan; M. Sethumadhavan

doi:10.14429/dsj.60.496

Gireesh Kumar T Amrita Vishwa Vidyapeetham, Coimbatore
K.J Poornaselvan Govt. College of Technology, Coimbatore
M. Sethumadhavan Amrita Vishwa Vidyapeetham University, Coimbatore

DOI: https://doi.org/10.14429/dsj.60.496

Keywords: Fuzzy logic, fuzzy support vector machine, FSVM, optimal path planning, multi-agent, mobile robot,

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.

Defence Science Journal, 2010, 60(4), pp.387-391, DOI:http://dx.doi.org/10.14429/dsj.60.496

Author Biographies

K.J Poornaselvan, Govt. College of Technology, Coimbatore

Received ME (Elect and Electro Engg) from Bharathiyar University, Coimbatore. He obtained his PhD (Elect Engg) from Anna University, Chennai, in 2006. He is currently an Asst Prof in Electrical and Electronics Engg at the Government College of Technology, Coimbatore.

M. Sethumadhavan, Amrita Vishwa Vidyapeetham University, Coimbatore

Received his PhD (Number Theory) from Calicut Regional Engineering College (presently a National Institute of Technology). He is a Professor of Mathematics and Computer Science in Amrita Vishwa Vidyapeetham University, Coimbatore and is currently the Head, TIFAC CORE in Cyber Security.