Hybrid Method for the Navigation of Mobile Robot Using Fuzzy Logic and Spiking Neural Networks

摘要

the aim of this paper is to present a strategy describing a hybrid approach for the navigation of a mobile robot in a partially known environment. The main idea is t o combine between fuzzy logic approach suitable for the navigation in an unknown environment and spiking neural networks approach for solving the problem of navigation in a known environment. In the literature, many approaches exist for the navigation purp ose, for solving separately the problem in both situations. Our idea is based on the fact that we consider a mixed environment, and try to exploit the known environment parts for improving the path and time of navigation between the starting point and the target. The Simulation results, which are shown on two simulated scenarios, indicate that the hybridization improves the performance of robot navigation with regard to path length and the time of navigation.