Design of mobile robot navigation controller using neuro-fuzzy logic system

被引：15

作者：

Mishra, Divyendu Kumar ^{[1
]}

Thomas, Aby ^{[2
]}

Kuruvilla, Jinsa ^{[2
]}

Kalyanasundaram, P. ^{[3
]}

Prasad, K. Ramalingeswara ^{[4
]}

Haldorai, Anandakumar ^{[5
]}

机构：

[1] Veer Bahadur Singh Purvanchal Univ, Fac Engn, Dept Comp Sci & Engn, Siddikpur, Uttar Pradesh, India

[2] Mar Athanasius Coll Engn, Dept Elect & Commun, Kothamangalam, India

[3] Inst Elect & Commun Engn, Saveetha Inst Med & Tech Sci SIMATS, Saveetha Sch Engn, Chennai, India

[4] Lakireddy Bali Reddy Coll Engn, Dept EEE, Mylavaram, India

[5] Sri Eshwar Coll Engn, Dept Comp Sci & Engn, Coimbatore 641202, Tamil Nadu, India

来源：

COMPUTERS & ELECTRICAL ENGINEERING | 2022年 / 101卷

关键词：

Fuzzy logic system; Neural network; Mobile robot; Reactive; Deliberative;

D O I：

10.1016/j.compeleceng.2022.108044

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

To be successful, autonomous navigation must overcome challenges associated with the functions such as detecting perception, current location, planning, and regulating movements. It is possible to have a purposeful and reactive navigational approach. Robots and humans working in the same area must comply with safety laws regarding navigation. As a result, mobile robots in organized environments now have a navigation controller that can operate in reactive and deliberative approaches. Therefore, a neuro-fuzzy system is introduced to explore the benefits of both deliberative and reactive navigation control. It combines neural networks with a fuzzy logic controller and is used to investigate various strategies and give the robot corrective decisional commands. An amigo Bot equipped with a Kinect sensor is used to test the proposed approach in conjunction with the Virtual Robot Experimentation Platform (V-REP) and ROS Groovy Galapagos.

引用

页数：9

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