Article

Behavior-based neuro-fuzzy controller for mobile robot navigation

Sch. of Inf. Technol. & Eng., Univ. of Ottawa, Ont., Canada
IEEE Transactions on Instrumentation and Measurement (Impact Factor: 1.71). 09/2003; DOI: 10.1109/TIM.2003.816846
Source: IEEE Xplore

ABSTRACT This paper discusses a neuro-fuzzy controller for sensor-based mobile robot navigation in indoor environments. The control system consists of a hierarchy of robot behaviors.

0 Bookmarks
 · 
144 Views
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: Ant colony optimization (ACO) is a new evolvement algorithm that is proposed by Dorigo M., and solves some task allocation and target search problems to program the motion path searching food. The topic of the article uses the ant colony optimization algorithm to mobile robot system, and solve the problem of mobile robot path planning such that the target point in a collision free space. The simulated results presents that ACO can finds the optimization motion path for mobile robot moving to the target position (food) from the start position (nest) in a collision-free environment.
    01/2010;
  • [Show abstract] [Hide abstract]
    ABSTRACT: This article discusses a Neurofuzzy navigation strategy for sensor-based mobile robotics system. ATransputer computation power is used to carry out complicated needed computation (reading sensors data, deciding actions, outputting wheels data, ... system monitoring). Robot control mythology was run on a parallel computing environment known as Transputers. The Transputer embedded real-time controller was used onboard the robot to meet various intelligence requirements for the free navigation and obstacle avoidance. The control system consists of a hierarchy of robot behaviors. The mobile behavior control system was based on the use of a number of Transputers processors. Behavior methodology was based on the utilization of a structure of a five layers Neuro-fuzzy system that learns, trains, and adapts itself to the environment.
    Computer Modelling and Simulation (UKSim), 2011 UkSim 13th International Conference on; 05/2011
  • [Show abstract] [Hide abstract]
    ABSTRACT: An open hardware architecture for a goal-oriented indoor mobile robot navigation based on corrected odometry information using fuzzy logic controller is presented in this paper. The proposed approach exploits the ability of mobile robots to navigate in unstructured, cluttered and potentially hostile environments using calibrated odometry information, proximity sensor data and a fuzzy logic engine. A key advantage to this technique is its simplicity over similar navigation systems discussed in the literature. The simplification stems from the fact that only the previous traveled position of the robot needs to be tracked to reach to the target position. The superiority of this technique is supported by the experimental results that were collected for this purpose.
    Instrumentation and Measurement Technology Conference Proceedings, 2007. IMTC 2007. IEEE; 06/2007

Full-text (2 Sources)

View
0 Downloads
Available from