Title :
Behavior-based neuro-fuzzy controller for mobile robot navigation
Author :
Rusu, Petru ; Petriu, Emil M. ; Whalen, Thom E. ; Cornell, Aurel ; Spoelder, Hans J W
Author_Institution :
Sch. of Inf. Technol. & Eng., Univ. of Ottawa, Ont., Canada
Abstract :
This paper discusses a neuro-fuzzy controller for sensor-based mobile robot navigation in indoor environments. The control system consists of a hierarchy of robot behaviors.
Keywords :
computerised navigation; control system analysis; control system synthesis; fuzzy control; mobile robots; neurocontrollers; FLC; behavior-based neuro-fuzzy controller; fuzzy logic control; indoor robot environment; mobile robot navigation; robot behavior hierarchy control system; sensor-based mobile robot; Control systems; Indoor environments; Infrared detectors; Infrared sensors; Mobile robots; Navigation; Robot control; Robot kinematics; Robot sensing systems; Wheels;
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
DOI :
10.1109/TIM.2003.816846
