NDLI: Navigation of non-holonomic mobile robot using neuro-fuzzy logic with integrated safe boundary algorithm

Content Provider	Springer Nature Link
Author	Rao, A. Mallikarjuna Ramji, K. Sundara Siva Rao, B. S. K. Vasu, V. Puneeth, C.
Copyright Year	2017
Abstract	In the present work, autonomous mobile robot (AMR) system is intended with basic behaviour, one is obstacle avoidance and the other is target seeking in various environments. The AMR is navigated using fuzzy logic, neural network and adaptive neuro-fuzzy inference system (ANFIS) controller with safe boundary algorithm. In this method of target seeking behaviour, the obstacle avoidance at every instant improves the performance of robot in navigation approach. The inputs to the controller are the signals from various sensors fixed at front face, left and right face of the AMR. The output signal from controller regulates the angular velocity of both front power wheels of the AMR. The shortest path is identified using fuzzy, neural network and ANFIS techniques with integrated safe boundary algorithm and the predicted results are validated with experimentation. The experimental result has proven that ANFIS with safe boundary algorithm yields better performance in navigation, in particular with curved/irregular obstacles.
Starting Page	285
Ending Page	294
Page Count	10
File Format	PDF
ISSN	14768186
Journal	International Journal of Automation and Computing
Volume Number	14
Issue Number	3
e-ISSN	17518520
Language	English
Publisher	Institute of Automation, Chinese Academy of Sciences
Publisher Date	2017-03-04
Publisher Place	Beijing
Access Restriction	Subscribed
Subject Keyword	Robotics autonomous mobile robot (AMR) navigation fuzzy logic neural networks adaptive neuro-fuzzy inference system (ANFIS) safe boundary algorithm Control, Robotics, Mechatronics Computer Applications Computer-Aided Engineering (CAD, CAE) and Design
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Control and Systems Engineering Modeling and Simulation Computer Science Applications

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