Neuro-fuzzy Controlled Autonomous Mobile Robotics System

This article discusses a Neurofuzzy navigation strategy for sensor-based mobile robotics system. ATransputer computation power is used to carry out complicated needed computation (reading sensors data, deciding actions, outputting wheels data, ... system monitoring). Robot control mythology was run on a parallel computing environment known as Transputers. The Transputer embedded real-time controller was used onboard the robot to meet various intelligence requirements for the free navigation and obstacle avoidance. The control system consists of a hierarchy of robot behaviors. The mobile behavior control system was based on the use of a number of Transputers processors. Behavior methodology was based on the utilization of a structure of a five layers Neuro-fuzzy system that learns, trains, and adapts itself to the environment.