TY - GEN
T1 - Indoor navigation using adaptive neuro fuzzy controller for servant robot
AU - Budiharto, Widodo
AU - Jazidie, Achmad
AU - Purwanto, Djoko
PY - 2010
Y1 - 2010
N2 - We present our ongoing work on the development of Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for humanoid servant robot designed for navigation based on vision. In this method, black line on the landmark used as a track for robot's navigation using webcam as line sensor. We proposed architecture of ANFIS controller for servant robot based on mapping method, 3 input and 3 output applied to the controller. Only 45 training data used for navigation and best error starting at epoch 62. Each of the components are described in the paper and experimental results are presented. Humanoid servant robot also equipped with 4DOF arm robot, face recognition and text to speech processor. In order to demonstrate and measure the usefulness of such technologies for human-robot interaction, all components have been integrated and have been used for a servant robot named Srikandi I. Based on experiments, ANFIS controller succesfully implemented as controller for robot's navigation.
AB - We present our ongoing work on the development of Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for humanoid servant robot designed for navigation based on vision. In this method, black line on the landmark used as a track for robot's navigation using webcam as line sensor. We proposed architecture of ANFIS controller for servant robot based on mapping method, 3 input and 3 output applied to the controller. Only 45 training data used for navigation and best error starting at epoch 62. Each of the components are described in the paper and experimental results are presented. Humanoid servant robot also equipped with 4DOF arm robot, face recognition and text to speech processor. In order to demonstrate and measure the usefulness of such technologies for human-robot interaction, all components have been integrated and have been used for a servant robot named Srikandi I. Based on experiments, ANFIS controller succesfully implemented as controller for robot's navigation.
KW - ANFIS controller
KW - Adaptive neuro fuzzy
KW - Robot's navigation
KW - Service robot
UR - http://www.scopus.com/inward/record.url?scp=77952628595&partnerID=8YFLogxK
U2 - 10.1109/ICCEA.2010.119
DO - 10.1109/ICCEA.2010.119
M3 - Conference contribution
AN - SCOPUS:77952628595
SN - 9780769539829
T3 - 2010 2nd International Conference on Computer Engineering and Applications, ICCEA 2010
SP - 582
EP - 586
BT - 2010 2nd International Conference on Computer Engineering and Applications, ICCEA 2010
T2 - 2nd International Conference on Computer Engineering and Applications, ICCEA 2010
Y2 - 19 March 2010 through 21 March 2010
ER -