Practical adaptive navigation and control of a mobile robot using neuro-fuzzy systems

被引：0
|
作者：
Nefti, S [1 ]
Pontnau, J [1 ]
Soufian, M [1 ]
Djouani, K [1 ]
Soufian, M [1 ]
机构：
[1] Univ Paris 12, LIIA, F-94010 Creteil, France
来源：
ADAPTIVE SYSTEMS IN CONTROL AND SIGNAL PROCESSING 1998 | 2000年
关键词：
mobile robots; adaptive control; adaptive navigation system; adaptive neuro-fuzzy inference systems; backpropagation through the time; real time recurrent learning algorithm;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An Adaptive Navigation System is considered for navigation of an autonomous guided vehicles (such as non-holonomic mobile robot) with kinematics constrains in an unknown environment. The on-line navigation system, based on integrated reactive-cognitive parts, adaptively determines the required actions and/or controllers for the mobile robot. Each controller is adaptive itself, it use an Adaptive Neuro-Fuzzy Inference System (ANFIS). The ANFIS learns and generates the required knowledge for achieving desired goals from the mobile robot behaviour and its environment. Two different phases i.e. the configuration phase and the real time implementation phase are used to train the controllers. Finally, the experimental results confirm that employed methodology works well for mobile robot navigation in an unknown environment. Copyright (C) 1998 IFAC.
引用
收藏
页码：65 / 70
页数：6
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