Iraj Hassanzadeh

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This paper presents a fuzzy logic controller tuned by genetic algorithm (GA) for path planning near the optimal time to avoid obstacles in unknown environments. A GA is applied to modify the input and output membership functions of the fuzzy controller. A Matlab application, Kiks II, is used to simulate a Khepera II robot. Also, this approach is implemented(More)
In this paper, a new adaptive control design method for nonlinear telerobotic systems with varying asymmetric time delays is presented. Using the proposed controller, it is possible to synchronize the state behavior of the local and the remote robots. While prior art on adaptive teleoperation has addressed stability in such systems only for constant delays,(More)
In this paper, a real-time visual tracking system for dense traffic intersections is presented. The system structure is based on background estimation and subtraction method. A novel method for background estimation based on statistical video background extraction (SVBE) is presented. A moving object detection algorithm for performing background subtraction(More)
In this paper, we introduce a new adaptive controller design scheme for nonlinear telerobotic systems with varying time delays where the delays and their variation rates are unknown. The designed controller has the ability to synchronize the state behaviors of the local and the remote robots. In this paper, asymptotic stability in the presence of varying(More)
In this paper, Internet-based teleoperation of mobile robots for obstacle avoidance is analyzed. A shared impedance-control scheme is presented, and the results of an experimental study for the evaluation of the effects of different teleoperation parameters are reported. In the experimental study, the effects of time delay, operator training, image-display(More)
Mobile robot path planning is a nondeterministic polynomial time (NP) problem, traditional optimization methods are not very effective to it, which are easy to plunge into local minimum. In this paper, we devise an evolutionary algorithm to solve the robot path planning problem. In the present work, we propose a method of robot path planning in partially(More)
In this paper we propose a simple fuzzy controller for obstacle avoidance of mobile robot navigation. The most important aspect of this method is its simplicity and efficiency. The other important features of the proposed method are; smooth navigation due to the selected type of membership functions, and capability for pursuing dynamic target. The proposed(More)
In this paper, a novel control scheme is proposed to guarantee global asymptotic stability of bilateral teleoperation systems that are subjected to time-varying time delays in their communication channel and sandwich linearity in their actuators. This extends prior art concerning control of nonlinear bilateral teleoperation systems under time-varying time(More)