Roohollah Barzamini

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Path planning is one of the most important fields of research in the area of robotics. In this paper, a path planning method for a certain type of wheeled mobile robots called automated guided vehicles (AGVs) is proposed. The proposed model applies fuzzy control techniques to navigate multi AGVs in an unknown environment to reach a certain destination. In(More)
Wheeled Mobile Robots are considered as the most widely used class of Mobile Robots. This is due to their fast manoeuvring, simple control methods and energy saving characteristics. A new fuzzy algorithm for path planning of multiple wheeled mobile robots is presented in this paper which is optimal both in sense of travelling time and distance. A new method(More)
Wheeled mobile robots are considered as the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers, and energy saving characteristics. Two new algorithms for tracking control of these robots are presented in this paper: an adaptive controller and a nonlinear controller. Here, the two algorithms are compared with(More)
Generic generalized minimum variance-based (GMV) controllers have been adopted as efficient control mechanisms especially in presence of measurement noise. However, such controllers exhibit degraded performance with change in process dynamics. To overcome this problem, a novel congestion controller based on active queue management (AQM) strategy for(More)
Wheeled mobile robots are considered as the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers, and energy saving characteristics. A new adaptive algorithm for tracking control of these robots is presented in this paper which is robust against external and internal disturbances. A combination of model(More)
One of the challenges in designing computer networks is "queue management and congestion avoidance". There are several studies for congestion reduction and controlling such as random early detection (RED) and its variants. More recent works on developing congestion avoidance methods include modeling a TCP flow in an active queue management (AQM) of a(More)
In this paper a new Linear Matrix Inequality (LMI) based switching controller for multiple Bottleneck packet switching Network has been considered. The main goal is to illustrate the effects of the Switching Control methodology on the congestion control problem of the packet switching Networks with dynamically varying parameters such as Link capacity and(More)
In this paper sliding mode controllers (SMCs)' techniques are used and investigated for congestion control problem of differentiated Services (Diff-Serv) networks. Robustness against modeling uncertainties and disturbances are major features of sliding mode controller. Chattering phenomenon affects sliding mode congestion control; to overcome this problem,(More)
In this paper an adaptive controller is presented that addresses the coupling effects between two groups of electromagnetic trains. The main application of DEM (Double Electro-Magnet) is rapid rail transportation. Since the number of passengers is stochastic, the mass of the train will be variable too. On the other hand, due to the variation of the DEM(More)
Being in the category of data driven approaches, both adaptive neuro-fuzzy inference system (ANFIS) and principal component analysis (PCA) have been widely used in literature for fault detection and isolation when the whole things that we know about and have from the systems are some measurements corrupted by noise. In spite of promising applications of(More)