Fuzzy reactive navigation for autonomous mobile robot with an offline adaptive neuro fuzzy system

Author

Zerfa, Houcine ; Nouibat, Wahid

Author_Institution

Dept. of Electron., Univ. of Sci. & Technol. of Oran Mohamed, Oran, Algeria

fYear

2013

fDate

29-31 Oct. 2013

Firstpage

950

Lastpage

955

Abstract

This paper presents the conception, realization and fuzzy reactive navigation of mobile robot. We have proposed a reactive navigation system based on the fuzzy logic, this system allows the robot to navigate in a terrain and reach its target and avoiding the obstacles. Also we have adjusted this system by an offline neuro-fuzzy algorithm. And we have achieved a 3D platform of simulation for the validation of our approach. Also we have realized a real differential mobile robot (called ARP), equipped with two odometers and three infrared sensors and one radio module for the communication between the robot and computer. And finally we have realized a software application that permits to send a target punctual coordinates toward the robot.

Keywords

control engineering computing; fuzzy control; infrared detectors; mobile radio; mobile robots; neurocontrollers; 3D platform; ARP; autonomous mobile robot; differential mobile robot; fuzzy logic; fuzzy reactive navigation; infrared sensors; offline adaptive neuro fuzzy system; offline neuro-fuzzy algorithm; punctual coordinates; radio module; software application; Navigation; Robot sensing systems; ANFIS; Differential Mobile Robot; Fuzzy Logic; Fuzzy reactive navigation; Localization and Perception; Mobile Robot Navigation; Mobile Robot Simulation; Neuro-Fuzzy System; Neuronal Networks; Odometery;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems and Control (ICSC), 2013 3rd International Conference on

Conference_Location

Algiers

Print_ISBN

978-1-4799-0273-6

Type

conf

DOI

10.1109/ICoSC.2013.6750971

Filename

6750971