Obstacle Avoidance of mobile robot using PSO based Neuro Fuzzy Technique

摘要

Abstract — Navigation and obstacle avoidance are very important issues for the successful use of an autonomous mobile robot. To allow the robot to move between its current and final configurations without any collision within the surrounding environment, motion planning needs much treatment. Thus to generate collision free path it should have proper motion planning as well as obstacle avoidance scheme. This work mainly deals with the obstacle avoidance of a wheeled mobile robot in structured environment by using PSO based neuro-fuzzy approach. Here three layer neural network with PSO is used as learning algorithm to determine the optimal collision-free path. Keywords- Obstacle Avoidance of Mobile Robot, PSO based