Paper Info
Title
Ultrasonic Sensor Based Fuzzy-Neural Control Algorithm of Obstacle Avoidance for Mobile Robot
Abstract
This paper presents a novel fuzzy-neural control algorithm to realize obstacle avoidance of a mobile robot. A heuristic fuzzy-neural network is developed based on heuristic fuzzy rules and the Kohonen clustering network. By applying the off-line and unsupervised training method to this network, the pattern mapping relation between ultrasonic sensory input and velocity command is established. This paper describes mechanical design of the mobile robot, the arrangement of ultrasonic sensors, the obstacle avoidance system based on FKCN, classification of obstacle, the control algorithm for obstacle avoidance and training data library. In order to verify the effectiveness of this algorithm, we give the results of simulation in a computer virtual environment.
Year
DOI
Venue
2007
10.1007/978-3-540-72383-7_96
ISNN (1)
Keywords
Field
DocType
obstacle avoidance system,novel fuzzy-neural control algorithm,fuzzy-neural control algorithm,mobile robot,obstacle avoidance,heuristic fuzzy-neural network,training data library,heuristic fuzzy rule,ultrasonic sensor,kohonen clustering network,control algorithm,virtual environment,fuzzy neural network,mechanism design
Obstacle avoidance,Obstacle,Computer vision,Heuristic,Virtual machine,Computer science,Fuzzy logic,Self-organizing map,Artificial intelligence,Cluster analysis,Mobile robot
Conference
Volume
ISSN
Citations 
4491
0302-9743
0
PageRank 
References 
Authors
0.34
7
3
Name
Order
Citations
PageRank
Hongbo Wang101.01
Chaochao Chen21188.77
Zhen Huang310011.60