General guiding model for mobile robots and its complexity reduced neuro-fuzzy approximation

摘要

The development of techniques for autonomous mobile robot navigation has been in focus for several decades . The main objectives of this paper are twofold. One is to extend the potential based guiding (PBG) model to a more general form that can be approximated by a common type neuro-fuzzy algorithm. The extended model eliminates the strongly alternating behavior of PBG. The second is to propose a computation complexity reduction method for the general form of the neuro-fuzzy technique. Same examples are given to show the effectiveness of the extended guiding model.