Neuro-Fuzzy Navigation for a Car-Like Robot in Unknown Environments
نویسندگان
چکیده
This paper implements a Neuro-Fuzzy (FNN) approach to autonomously navigate a car-like robot in an unknown environment. The applied technique allows the robot to avoid obstacles and locally search for a path leading to the goal after learning and adaptation. It is based on two Fuzzy Artmap neural networks, a Reinforcement trial and error neural network and a Mamdani fuzzy logic controller (FLC). Experimental results in the Generator of modules (GenoM) robotics architecture shows the FNN effectiveness for the autonomous mobile robot Robucar. Keywords—Mobile robots, autonomous systems, intelligent navigation, fuzzy logic, neural networks, obstacle avoidance, target seeking, Fuzzy Artmap, Mamdani model.
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