Behavior of intelligent wheelchair along wall based on algorithm of fuzzy neural network

Abstract

In order to solve the problem that the process of local path planning about the mobile robot,which autonomous navigation in outdoor.A more practical method of local path planning is presented,which is based on the algorithm of fuzzy neural network.Firstly the intelligent wheelchair has few numbers of sonar and a camera to collect external environmental information when it is moving.So,the intelligent wheelchair can get sufficient information on the external environment.Then the fuzzy neural network based on the Takagi-Sugeno(TS) mode is used to fuse the information of the environment.In the end,the result of the information fusion is used to control the wheelchair's move.The simulation and experiment show that this method is feasibility and validity.And the path of the intelligent wheelchair is optimized.