Intelligent obstacle avoidance for an autonomous mobile robot

Author

Wang, Xiaochuan ; Yang, Simon X. ; Meng, Max Q -H

Author_Institution

Sch. of Eng., Guelph Univ., Ont., Canada

Volume

5

fYear

2004

Firstpage

4656

Abstract

In this paper, an intelligent obstacle-avoidance approach to autonomous navigation of a mobile robot in unknown environments is developed using the neuro-fuzzy technique. A combination of four infrared sensors is equipped to detect the distance of obstacles around the mobile robot. The distance information is processed by the proposed neuro-fuzzy controller to adjust the velocities of the differential-drive system of the mobile robot. Simulation and experimental results demonstrate the effectiveness of the developed neuro-fuzzy controller.

Keywords

collision avoidance; control engineering computing; fuzzy control; fuzzy neural nets; fuzzy set theory; infrared detectors; learning (artificial intelligence); mobile robots; navigation; neurocontrollers; autonomous mobile robot; autonomous navigation; control engineering computing; differential drive system; fuzzy set theory; infrared sensors; intelligent obstacle avoidance; neural nets training; neuro-fuzzy controller; unknown environments; Control systems; Fuzzy logic; Fuzzy neural networks; Fuzzy systems; Intelligent robots; Mobile robots; Navigation; Neural networks; Orbital robotics; Space exploration;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on

Print_ISBN

0-7803-8273-0

Type

conf

DOI

10.1109/WCICA.2004.1342402

Filename

1342402