Title :
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
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;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1342402
