Title :
A neuro-fuzzy approach to obstacle avoidance of a nonholonomic mobile robot
Author :
Wang, Xiaochuan ; Yang, Simon X.
Author_Institution :
Sch. of Eng., Guelph Univ., Ont., Canada
Abstract :
In this paper, a neuro-fuzzy control system is developed for obstacle avoidance of nonholonomic mobile robot built in the ARIS lab. A combination of four infrared sensors is equipped to detect the distance to obstacles around the mobile robot. The distance information is processed by the proposed neuro-fuzzy controller to adjust the velocities of two separate driven wheels of the robot. Eighteen fuzzy rules are developed for the obstacle avoidance. Experiments demonstrate the effectiveness of the developed neuro-fuzzy controller.
Keywords :
collision avoidance; fuzzy control; mobile robots; neurocontrollers; ARIS laboratory; distance information; fuzzy rules; infrared sensors; neurofuzzy approach; neurofuzzy control system; nonholonomic mobile robot; obstacle avoidance; separate driven wheels; Automatic control; Control systems; Fuzzy logic; Intelligent robots; Mobile robots; Neural networks; Orbital robotics; Robot sensing systems; Service robots; Wheels;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225067
