Title :
An Embedded Real-Time Neuro-Fuzzy Controller for Mobile Robot Navigation
Author :
Zhang, Nian ; Beetner, Daryl ; Wunsch, Donald C., II ; Hemmelman, Brian ; Hasan, Abul
Author_Institution :
Dept. of Electr. & Comput. Eng., South Dakota Sch. of Mines & Technol., Rapid City, SD
Abstract :
A reactive fuzzy logic based control strategy was developed for mobile robot navigation. To decrease the number of fuzzy rules and related processing, a RAM-based neural network was combined with the fuzzy logic strategy. The fuzzy rules are used to interpret sensor information. The neural network uses results from the fuzzy logic as well as environmental information to make navigation decisions. The feasibility of this neuro-fuzzy approach was demonstrated on a mobile robot using a simple, 8-bit microcontroller. Experiments show the approach works well, as the robot was able to successfully avoid objects while seeking a goal in real-time. The neuro-fuzzy approach is code-efficient, fast, and easy to relate to the physical world
Keywords :
collision avoidance; computerised navigation; embedded systems; fuzzy control; fuzzy logic; fuzzy neural nets; fuzzy set theory; microcontrollers; mobile robots; neurocontrollers; 8 bit; RAM-based neural network; computerised navigation; embedded real-time neurofuzzy controller; embedded systems; fuzzy rules; microcontrollers; mobile robot navigation; neurocontrollers; reactive fuzzy logic control; robotic navigation; Fuzzy logic; Fuzzy systems; Microcontrollers; Microprocessors; Mobile robots; Navigation; Neural networks; Random access memory; Robot control; Robot sensing systems;
Conference_Titel :
Fuzzy Systems, 2005. FUZZ '05. The 14th IEEE International Conference on
Conference_Location :
Reno, NV
Print_ISBN :
0-7803-9159-4
DOI :
10.1109/FUZZY.2005.1452413
