Realtime motion planning for a mobile robot in an unknown environment using a neurofuzzy based approach

Taixiong Zheng

doi:10.1117/12.664682

2 May 2006 Realtime motion planning for a mobile robot in an unknown environment using a neurofuzzy based approach

Taixiong Zheng

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60422X (2006) https://doi.org/10.1117/12.664682
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

A neuro-fuzzy network based approach for robot motion in an unknown environment was proposed. In order to control the robot motion in an unknown environment, the behavior of the robot was classified into moving to the goal and avoiding obstacles. Then, according to the dynamics of the robot and the behavior character of the robot in an unknown environment, fuzzy control rules were introduced to control the robot motion. At last, a 6-layer neuro-fuzzy network was designed to merge from what the robot sensed to robot motion control. After being trained, the network may be used for robot motion control. Simulation results show that the proposed approach is effective for robot motion control in unknown environment.

Citation Download Citation

Taixiong Zheng "Realtime motion planning for a mobile robot in an unknown environment using a neurofuzzy based approach", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60422X (2 May 2006); https://doi.org/10.1117/12.664682

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