An intelligent ANFIS mobile robot controller Using an expertise-based guidance technique

摘要

Nowadays, the navigation of mobile robots is becoming a very attractive research problem in the field of robotics to meet the needs of other domains such as medicine, military, space, agronomy, etc. In this paper, we have worked on the reactive navigation of the three-Wheel Differential-Drive Mobile Robot in previously unknown environments, using a minimum of sensors that provide local information about the workspace. Actually, this work consists in implementing an ANFIS-based reactive navigation controller that is trained on a dataset created using an expertise-based guidance technique. Through illustrative simulation experiments, the effectiveness of the proposed controller for navigation is demonstrated with consideration of the three reactive navigation behaviors which are obstacle-avoidance, wall-following, and target-seeking.