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, we introduce a new adap-tive controller design scheme for nonlinear telero-botic 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, 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, 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 present an optimum approach to design a MIMO controller for a manipulator using discrete tabu search (TS) algorithm. In the first step, the TS algorithm is reviewed and then we employ the proposed method in order to assign efficiently the optimal PID controller parameters. The design goal is to minimize the integral absolute error and(More)