Intelligent mobile robot navigation using a neuro-fuzzy approach

摘要

This paper introduces an intelligent navigation system allowing a car-like robot to attain its destination autonomously, intelligently and safely. Based on a neuro-fuzzy (FNN) approach, the applied technique permits the robot to avoid all encountered obstacles and seek for its target's location in a local manner referring to the concepts of learning and adaptation. It uses two fuzzy Artmap neural networks, a reinforcement trial and error neural network and a Mamdani fuzzy logic controller (FLC). Experimental results in the Generator of modules (GenoM) robotics architecture, in an unknown environment, shows the FNN effectiveness for the autonomous mobile robot Robucar.