Navigation of an Autonomous Mobile Robot Using Intelligent Hybrid Technique

被引：0

作者：

Mohanty, Prases K. ^{[1
]}

Parhi, Dayal R. ^{[1
]}

机构：

[1] Natl Inst Technol, Dept Mech Engn, Rourkela, Odisha, India

来源：

2012 IEEE INTERNATIONAL CONFERENCE ON ADVANCED COMMUNICATION CONTROL AND COMPUTING TECHNOLOGIES (ICACCCT) | 2012年

关键词：

ANFIS; navigation; mobile robot; NEURO-FUZZY CONTROLLER;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

The hallmark of this paper describes Adaptive Neuro-fuzzy (ANFIS) based navigation for an autonomous mobile robot in a real world cluttered environment. ANFIS has the advantage of both expert knowledge of the fuzzy inference system and the supervised learning capability of artificial neural networks. In this architecture the front obstacle distance (FOD), left obstacle distance (LOD), right obstacle distance (ROD) (from the robot) and target angle (angle to the source) are collected from the array of ultrasonic sensors mounted on a mobile robot and given as input to the ANFIS controller and output from the controller is steering angle. Finally, simulation experiments using MATLAB program have shown that, the ANFIS model is suitable and effective for path planning of a mobile robot in uncertain terrain to find and reach to target objects.

引用

页码：136 / 140

页数：5

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