An intelligent approach for autonomous mobile robots path planning based on adaptive neuro-fuzzy inference system

This paper proposes an efficient path planning technique for the autonomous collision-free navigation of wheeled mobile robots with simple hardware based on adaptive neuro-fuzzy inference system (ANFIS). The distance between robot and obstacles is measured using three ultrasonic sensors that are installed left, front, right robot. These distances from form inputs to ANFIS-utility function block calculates obstacle avoidance steering angle behavior modeled under six scenarios facing obstacle. instantaneous position target available Global Positioning System (GPS) modules. A simulation in V-REP has been integrated into ANFIS controller coded MATLAB. results show proposed function-based surpasses some related algorithms terms finding near-optimal paths.