Sensor-based navigation system using a modified ART-2 network and fuzzy controller for an indoor mobile robot

Author

Cheng, Yu-hu ; Yi, Jian-qiang ; Zhao, Dongbin

Author_Institution

Inst. of Autom., Chinese Acad. of Sci., Beijing, China

Volume

3

fYear

2003

fDate

2-5 Nov. 2003

Firstpage

1374

Abstract

The objective of the paper is to develop a strategy for the navigation of mobile robots in uncertain indoor environment. A modified ART-2 network is put forward to identify the surrounding environment correctly for mobile robot which considers not only the similarity of direction but also magnitude of input vectors in environment sorting. Then a fuzzy controller for mobile robot´s navigation in an unknown environment is designed based on the correct environment classification information provided by ART-2 network. In order to demonstrate the effectiveness and real-time ability of the proposed approach, we report a number of simulation results of navigation in an unknown environment.

Keywords

ART neural nets; control system synthesis; fuzzy control; mobile robots; path planning; sensors; vectors; ART-2 neural network; adaptive resonance theory; environment classification; fuzzy controller; indoor mobile robot; input vectors; sensor-based navigation system; Automatic control; Control systems; Fuzzy control; Fuzzy systems; Indoor environments; Mobile robots; Navigation; Path planning; Robot control; Sorting;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2003 International Conference on

Print_ISBN

0-7803-8131-9

Type

conf

DOI

10.1109/ICMLC.2003.1259706

Filename

1259706