Title :
General guiding model for mobile robots and its complexity reduced neuro-fuzzy approximation
Author :
Baranyi, Péter ; Nagy, István ; Korondi, Péter ; Hashimoto, Hideki
Author_Institution :
Dept. of Telcomm. & Telematics, Tech. Univ. Budapest, Hungary
Abstract :
The development of techniques for autonomous mobile robot navigation has been in focus for several decades . The main objectives of this paper are twofold. One is to extend the potential based guiding (PBG) model to a more general form that can be approximated by a common type neuro-fuzzy algorithm. The extended model eliminates the strongly alternating behavior of PBG. The second is to propose a computation complexity reduction method for the general form of the neuro-fuzzy technique. Same examples are given to show the effectiveness of the extended guiding model
Keywords :
computational complexity; fuzzy logic; matrix algebra; mobile robots; neural nets; path planning; autonomous mobile robot navigation; complexity reduced neuro-fuzzy approximation; general guiding model; potential based guiding model; Channel bank filters; Communication industry; Mobile robots; Navigation; Neural networks; Robot control; Robot sensing systems; Robotics and automation; Telecommunications; Telematics;
Conference_Titel :
Fuzzy Systems, 2000. FUZZ IEEE 2000. The Ninth IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-5877-5
DOI :
10.1109/FUZZY.2000.839191
