A unified fuzzy logic approach to trajectory planning and inverse kinematics for a fire fighting robot operating in tunnels

被引：0
|
作者：
A. De Santis
B. Siciliano
L. Villani
机构：
[1] Università degli Studi di Napoli Federico II,PRISMA Lab, Dipartimento di Informatica e Sistemistica
来源：
Intelligent Service Robotics | 2008年 / 1卷
关键词：
Rescue robotics; Fire fighting; Inverse kinematics; Fuzzy inference system; Redundancy;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper a fuzzy logic approach to automatic trajectory planning and closed-loop inverse kinematics for a robotic system purposely designed to extinguish fires in road and railway tunnels is presented. The robot is composed of a self-cooling monorail vehicle carrying a fire fighting monitor. A fuzzy inference system is adopted for the automatic generation of the task-space trajectory for the robot and to distribute the motion among the available joints in the presence of redundant degrees of mobility. Redundancy also allows assigning additional tasks besides the primary task. Simulation case studies are presented to test the performance of the whole system in a typical intervention scenario.
引用
收藏
页码：41 / 49
页数：8
相关论文
共 25 条
  • [21] A FUZZY LOGIC APPROACH USED IN THE INVERSE KINEMATIC ALGORITHM OF A SPACE ZERO-G FREE FLYING ROBOT
    Bulgarelli, Andrea
    Aboudan, Alessio
    Menon, Carlo
    Trifoglio, Massimo
    Gianotti, Fulvio
    ECTA 2011/FCTA 2011: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON EVOLUTIONARY COMPUTATION THEORY AND APPLICATIONS AND INTERNATIONAL CONFERENCE ON FUZZY COMPUTATION THEORY AND APPLICATIONS, 2011, : 429 - 434
  • [22] Fuzzy Logic-Based Autonomous Lane Changing Strategy for Intelligent Internet of Vehicles: A Trajectory Planning Approach
    He, Chao
    Jiang, Wenhui
    Li, Junting
    Wei, Jian
    Guo, Jiang
    Zhang, Qiankun
    WORLD ELECTRIC VEHICLE JOURNAL, 2024, 15 (09):
  • [23] RETRACTED: An Improved Inverse Kinematics Solution for a Robot Arm Trajectory Using Multiple Adaptive Neuro-Fuzzy Inference Systems (Retracted Article)
    Refaai, Mohamad Reda A.
    ADVANCES IN MATERIALS SCIENCE AND ENGINEERING, 2022, 2022
  • [24] AN ADAPTIVE PATH PLANNING APPROACH FOR DIGITAL TWIN-ENABLED ROBOT ARM BASED ON INVERSE KINEMATICS AND DEEP REINFORCEMENT LEARNING
    Zhou, Qi
    Li, Sikai
    Qu, Jingbo
    Wu, Jin
    Xu, Haomiao
    Bi, Youyi
    PROCEEDINGS OF ASME 2023 INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, IMECE2023, VOL 3, 2023,
  • [25] A vector-format fuzzy logic approach for online robot motion planning in 3D space and its application to underwater robotic vehicle
    Wu, X. J.
    Tang, J.
    Li, Q.
    Heng, K. H.
    ROBOTICA, 2007, 25 : 325 - 339
123