Behavior Control of a New Designed Mobile Robot Based on Fuzzy Logic and Neuro Fuzzy Approaches for Monitoring Wall

摘要

This work describes the design and development of controllers based on artificial intelligence applied to a newly designed mobile robot type-vehicle to control behavior for monitoring wall. Two approaches have been developed and optimized to achieve this task. The first one is based on Fuzzy logic. This control algorithm combines different sensory information and provides a suitable control command allowing the mobile robot to follow the wall deviations. The second approach consists of the application of a hybrid-type Neuro-Fuzzy ANFIS controller for the same task. An important feature of this approach is that the controller combines the advantages of both Fuzzy logic and Neural Networks.The simulation results are presented and implemented with VHDL using ANFIS architecture.