General guiding model for mobile robots and its complexity reduced neuro-fuzzy approximation

Author

Baranyi, Péter ; Nagy, István ; Korondi, Péter ; Hashimoto, Hideki

Author_Institution

Dept. of Telcomm. & Telematics, Tech. Univ. Budapest, Hungary

Volume

2

fYear

2000

fDate

2000

Firstpage

1029

Abstract

The development of techniques for autonomous mobile robot navigation has been in focus for several decades . The main objectives of this paper are twofold. One is to extend the potential based guiding (PBG) model to a more general form that can be approximated by a common type neuro-fuzzy algorithm. The extended model eliminates the strongly alternating behavior of PBG. The second is to propose a computation complexity reduction method for the general form of the neuro-fuzzy technique. Same examples are given to show the effectiveness of the extended guiding model

Keywords

computational complexity; fuzzy logic; matrix algebra; mobile robots; neural nets; path planning; autonomous mobile robot navigation; complexity reduced neuro-fuzzy approximation; general guiding model; potential based guiding model; Channel bank filters; Communication industry; Mobile robots; Navigation; Neural networks; Robot control; Robot sensing systems; Robotics and automation; Telecommunications; Telematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2000. FUZZ IEEE 2000. The Ninth IEEE International Conference on

Conference_Location

San Antonio, TX

ISSN

1098-7584

Print_ISBN

0-7803-5877-5

Type

conf

DOI

10.1109/FUZZY.2000.839191

Filename

839191