Two modular neuro-fuzzy system for mobile robot navigation

2nd International Conference "Cognitive Robotics"

工业技术;无线电电子学;计算机科学

Bobyr, M.V.^1 ; Titov, V.S.^1 ; Kulabukhov, S.A.^1 ; Syryamkin, V.I.^2

Department of Computer Engineering, Southwest State University, Kursk, Russia^1

National Research Tomsk State University, Tomsk, Russia^2

关键词: Experimental modeling;    Fuzzy modeling;    Mobile Robot Navigation;    Modular control systems;    Neuro-fuzzy algorithms;    Neurofuzzy system;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/363/1/012009/pdf
DOI  :  10.1088/1757-899X/363/1/012009

来源: IOP

【 摘 要 】

The article considers the fuzzy model for navigation of a mobile robot operating in two modes. In the first mode the mobile robot moves along a line. In the second mode, the mobile robot looks for an target in unknown space. Structural and schematic circuit of four-wheels mobile robot are presented in the article. The article describes the movement of a mobile robot based on two modular neuro-fuzzy system. The algorithm of neuro-fuzzy inference used in two modular control system for movement of a mobile robot is given in the article. The experimental model of the mobile robot and the simulation of the neuro-fuzzy algorithm used for its control are presented in the article.