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http://dx.doi.org/10.5207/JIEIE.2008.22.4.019

Navigation of Autonomous Mobile Robot using Fuzzy Neural Network  

Choi, Jeong-Won (금오공과대학교 전자공학부)
Publication Information
Journal of the Korean Institute of Illuminating and Electrical Installation Engineers / v.22, no.4, 2008 , pp. 19-25 More about this Journal
Abstract
This paper proposes a hierarchically structured navigation algorithm for autonomous mobile robot under unknown environment based on fuzzy-neal network. The proposed algorithm consists of two basic layers as follows. The lower layer consists of two parts such as fuzzy algorithm for goal approach and fuzzy-neural algorithm for obstacle avoidance. The upper layer which is basically fuzzy algorithm adjusts the magnitude of the weighting factor depending on the environmental situation. The proposed algorithm provides an efficient method to escape local mimimum points as shown in the simulation result. Most simulation results show that this algorithm is very effective for autonomous mobile robots' traveling in unknown field.
Keywords
Hierarchically structured algorithm; Unknown environment; Autonomous mobile robot;
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