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The book includes topics, such as: path planning, avoiding
obstacles, following the path, go-to-goal control, localization,
and visual-based motion control. The theoretical concepts are
illustrated with a developed control architecture with soft
computing and artificial intelligence methods. The proposed
vision-based motion control strategy involves three stages. The
first stage consists of the overhead camera calibration and the
configuration of the working environment. The second stage consists
of a path planning strategy using several traditional path planning
algorithms and proposed planning algorithm. The third stage
consists of the path tracking process using previously developed
Gauss and Decision Tree control approaches and the proposed Type-1
and Type-2 controllers. Two kinematic structures are utilized to
acquire the input values of controllers. These are Triangle
Shape-Based Controller Design, which was previously developed and
Distance-Based Triangle Structure that is used for the first time
in conducted experiments. Four different control algorithms, Type-1
fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and
Gaussian Control have been used in overall system design. The
developed system includes several modules that simplify
characterizing the motion control of the robot and ensure that it
maintains a safe distance without colliding with any obstacles on
the way to the target. The topics of the book are extremely
relevant in many areas of research, as well as in education in
courses in computer science, electrical and mechanical engineering
and in mathematics at the graduate and undergraduate levels.
The book includes topics, such as: path planning, avoiding
obstacles, following the path, go-to-goal control, localization,
and visual-based motion control. The theoretical concepts are
illustrated with a developed control architecture with soft
computing and artificial intelligence methods. The proposed
vision-based motion control strategy involves three stages. The
first stage consists of the overhead camera calibration and the
configuration of the working environment. The second stage consists
of a path planning strategy using several traditional path planning
algorithms and proposed planning algorithm. The third stage
consists of the path tracking process using previously developed
Gauss and Decision Tree control approaches and the proposed Type-1
and Type-2 controllers. Two kinematic structures are utilized to
acquire the input values of controllers. These are Triangle
Shape-Based Controller Design, which was previously developed and
Distance-Based Triangle Structure that is used for the first time
in conducted experiments. Four different control algorithms, Type-1
fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and
Gaussian Control have been used in overall system design. The
developed system includes several modules that simplify
characterizing the motion control of the robot and ensure that it
maintains a safe distance without colliding with any obstacles on
the way to the target. The topics of the book are extremely
relevant in many areas of research, as well as in education in
courses in computer science, electrical and mechanical engineering
and in mathematics at the graduate and undergraduate levels.
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