Angle-based neuro-fuzzy navigation for autonomous mobile robots

被引：0
|
作者：
Hosokawa, Shu [1 ]
Kato, Joji [1 ]
Nakano, Kazushi [1 ]
Sakurama, Kazunori [1 ]
机构：
[1] Univ Electrocommun, Dept Elect Engn, Chofu, Tokyo, Japan
来源：
PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11) | 2011年
关键词：
Omnidirectional mobile robot; Neuro fuzzy; Robot navigation; Local sensor;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a neuro-fuzzy navigation method for mobile robots based on local sensors mounted on the robot. This method is not sensitive to sensor noise, and is able to automatically adjust the internal parameters given by the teacher signal. However, most of previous studies dealt with two-wheel driven robots have focused on the acceleration control of their wheels. For this reason, it is difficult to generate teacher signals for robots with many actuators such as omnidirectional mobile robots. In this paper, we propose a method of neuro-fuzzy navigation based on control of rotation speed of the robots. We demonstrate the validity of our proposed method through simulations and experiments.
引用
收藏
页码：66 / 69
页数：4
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