Navigation of Non-holonomic Mobile Robot Using Neuro-fuzzy Logic with Integrated Safe Boundary Algorithm

被引：0

作者：

A.Mallikarjuna Rao ^{[1
]}

K.Ramji ^{[2
]}

B.S.K.Sundara Siva Rao ^{[2
]}

V.Vasu ^{[3
]}

C.Puneeth ^{[1
]}

机构：

[1] Department of Mechanical Engineering,V R Siddhartha Engineering College

[2] Department of Mechanical Engineering,A.U.College of Engineering,Andhra University

[3] Department of Mechanical Engineering,National Institute of Technology-Warangal

来源：

International Journal of Automation and Computing | 2017年 / 14卷 / 03期

关键词：

Robotics; autonomous mobile robot(AMR); navigation; fuzzy logic; neural networks; adaptive neuro-fuzzy inference system(ANFIS); safe boundary algorithm;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

In the present work, autonomous mobile robot(AMR) system is intended with basic behaviour, one is obstacle avoidance and the other is target seeking in various environments. The AMR is navigated using fuzzy logic, neural network and adaptive neurofuzzy inference system(ANFIS) controller with safe boundary algorithm. In this method of target seeking behaviour, the obstacle avoidance at every instant improves the performance of robot in navigation approach. The inputs to the controller are the signals from various sensors fixed at front face, left and right face of the AMR. The output signal from controller regulates the angular velocity of both front power wheels of the AMR. The shortest path is identified using fuzzy, neural network and ANFIS techniques with integrated safe boundary algorithm and the predicted results are validated with experimentation. The experimental result has proven that ANFIS with safe boundary algorithm yields better performance in navigation, in particular with curved/irregular obstacles.

引用

页码：285 / 294

页数：10

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