Publications Scientifiques
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Item The proposed hybrid intelligent system for path planning of Intelligent Autonomous Systems(2009) Hachour, OuardaIn this paper, , we discuss the ability to deal with a Hybrid Intelligent Systems (HIS) for Intelligent Autonomous Vehicles IAV in unknown environment. The aim of this work is to develop HIS combining Genetic Algorithms (GA), Fuzzy Logic (FL), Neural Networks (NN) and Expert Systems (ES). This project deals with a simulation program that allows a robot to identify a path to reach a specified target avoiding obstacles. The combination of (ES FL, NN, GA) offers design flexibility and robust integration and has the benefits of reduced communications overhead and improved runtime performance. This integration provides the robot the possibility to move from the initial position to the final position (target) without collisions. The robot moves within the unknown environment by sensing and avoiding the obstacles coming across its way towards the target. The algorithm permits the robot to move from the initial position to the desired position following an estimated trajectory. The proposed hybrid navigation strategy is designed in unknown environment with static unknown obstacles. This approach must make the robot able to achieve these tasks: to avoid obstacles, and to make ones way toward its target by ES_FL_GA_NN system capturing the behavior of a human expert. The integration of these technologies (FL, NN, ES, and GA) has proven to be a way to develop useful real-world applications, and hybrid systems involving robust adaptive control. The proposed approach has the advantage of being generic and can be changed at the user demand. The results are satisfactory to see the great number of environments treated. The results are satisfactory and promising. the proposed method is computationally efficient and is suitable for more integration of hybrid intelligent systemsItem Neural path planning for mobile robots(2011) Hachour, OuardaNavigation is a major challenge for autonomous, mobile robots. The problem can basically be divided into positioning and path planning. The proposed path finding strategy is designed in a known static environments. The proposed method starts from an initial point to a target point establishing a control nodes neural networks for which connections are made to determine the form of the path. This algorithm provides the robot the possibility to move from the initial position to the final position (target). The robot moves within the unknown environment by sensing and avoiding the obstacles coming across its way towards the target. The proposed algorithm can deal with any shape obstacles even if it is the case of circular obstacles. This case is the hardest one in any navigation problem. The problem is solved by proposing neural networks navigation systems. Indeed, NNs are well adapted in appropriate form when knowledge based systems are involved. Since the network is able to take into account and respond to new constraints and data related to the external environments, the adaptation here is largely related to the learning capacity. Besides, Networks of neurons can achieve complex classification based on the elementary capability of each neuron to distinguish classes its activation function. Some useful solutions are proposed for each situation. For any proposed environment, the robot succeeds to reach its target without collisions. The results are satisfactory to see the great number of environments treated The simulation results display the ability of the neural networks based approach providing autonomous mobile robots with capability to intelligently navigate in several environmentsItem Cognitive tasks behavior of intelligent autonomous mobile robots(2011) Hachour, OuardaIn this paper we propose a neural network based navigation for intelligent autonomous mobile robots. The proposed neural networks algorithm deals with unknown static obstacles. Neural Networks deal with cognitive tasks such as learning, adaptation generalization and they are well appropriate when knowledge based systems are involved. To solve navigation problems, neural networks prove interesting to deal with the behaviour of autonomous mobile robots near the human being in reasoning. This paper deals with an algorithm for two dimensional (2D) path planning to a target for mobile robot in unknown environment. A complete path planning algorithm should guarantee that the robot can reach the target if possible, or prove that the target can not be reached. Just as human being, a neural network relies on previously solved examples to build a system of “neurons” that makes new decisions, classification and forecasts. Networks of neurons can achieve complex classification based on the elementary capability of each neuron to distinguish classes its activation function. In designing a Neural Networks navigation approach, the ability of learning must provide robots with capacities to successfully navigate in the environments like our proposed maze environment. The simulation results display the ability of the neural networks based approach providing autonomous mobile robots with capability to intelligently navigate in several environments