Title :
Application of Fuzzy Neural Networks in data fusion for mobile robot wall-following
Author :
Zhang Yi ; Luo Yuan
Author_Institution :
Res. Center of Intell. Syst. & Robot., Chongqing Univ. of Posts & Telecommun., Chongqing
Abstract :
This paper presents a multi-sensor data fusion algorithm based on Fuzzy Neural Networks. And then, this algorithm is applied on wall-following of a robot. By using back propagation Neural network as the base, fuzzy logic and neural networks can be used together to form a fuzzy neural networks. Its calculating model combines the wall-following rules of three sorts of wall in unknown environment and back propagation neural network. So, fuzzy neural networks can auto pick up the fuzzy rules and build the subordinate function to decide mobile robotpsilas motion. The training and simulation result shows that the method which was used in wall-following of mobile robot is practicable and effective.
Keywords :
backpropagation; fuzzy logic; fuzzy neural nets; mobile robots; sensor fusion; back propagation neural network; calculating model; fuzzy logic; fuzzy neural networks; fuzzy rules; mobile robot motion; mobile robot wall-following; multisensor data fusion; Biological neural networks; Fuzzy control; Fuzzy logic; Fuzzy neural networks; Intelligent robots; Mobile robots; Neural networks; Robot sensing systems; Robotics and automation; Sonar; Fuzzy Neural Networks; data fusion; mobile robot; sonar; wall following;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593920