Intelligent obstacle avoidance for an autonomous mobile robot

Abstract

In this paper, an intelligent obstacle-avoidance approach to autonomous navigation of a mobile robot in unknown environments is developed using the neuro-fuzzy technique. A combination of four infrared sensors is equipped to detect the distance of obstacles around the mobile robot. The distance information is processed by the proposed neuro-fuzzy controller to adjust the velocities of the differential-drive system of the mobile robot. Simulation and experimental results demonstrate the effectiveness of the developed neuro-fuzzy controller.