Author/Authors :
Wang, Ting Signals, Images, and Intelligent Systems Laboratory, Universit´e Paris ? Est, S´enart Institute of Technology, Avenue Pierre Point, Lieusaint, France., France , Sabourin, Christophe Signals, Images, and Intelligent Systems Laboratory, Universit´e Paris ? Est, S´enart Institute of Technology, Avenue Pierre Point, Lieusaint, France., France , Madani, Kurosh Signals, Images, and Intelligent Systems Laboratory, Universit´e Paris ? Est, S´enart Institute of Technology, Avenue Pierre Point, Lieusaint, France., France
Abstract :
In this paper, a control strategy for a non-holonomic robot based on an Adaptive Neural Fuzzy Inference System is proposed. The neuro-controller makes it possible for the robot to track a given reference trajectory. After a short introduction about Adaptive Neural Fuzzy Inference System, the control strategy which is used on our virtual non-holonomic robot is described. And finally, the simulations’ results where the robot has to pass into a narrow path and also the first validation results concerning the implementation of the proposed concepts on a real robot is given.
Keywords :
ANFIS controller , nonholonomic , multi , robot ,
