Neuro-fuzzy Control of an Intelligent Mobile Robot

Abstract

This paper describes the reactive controlling of a mobile robotic system using a hybrid approach by adopting both neural network and fuzzy logic, so that, an autonomous robot should move in a crowded unknown environment to reach at a decided goal. A fuzzy logic controller with a set of certain rules is used to obtain a goal reaching task. While a neural network is conceived to control robot actuator system by adopting feed forward back-propagation supervised learning strategy. A MATLAB simulation model is designed to show the behavior of robotic system according to binary or bipolar input as environmental input condition.