Paper Info
Title
A Simple Neuro-Fuzzy Controller For Car-Like Robot Navigation Avoiding Obstacles
Abstract
This paper describes how the combination of neuro-fuzzy techniques with geometric analysis offers a good trade-off between purely heuristics and purely physical approaches when solving the problem of car-like robot navigation. The controller described, which follows a reactive technique, generates trajectories of near-minimal lengths when no obstacles are detected and, in presence of obstacles, generates minimum deviations from them. All these reference paths meet the kinematic constraints of car-like robots and take into account dynamic issues. Besides its efficiency, the proposed controller is very simple and linguistically interpretable. The whole controller has been designed and verified by using the CAD tools of the Xfuzzy environment.
Year
DOI
Venue
2007
10.1109/FUZZY.2007.4295621
2007 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-4
Keywords
Field
DocType
mobile robots,geometric analysis,robot kinematics,design automation,obstacle avoidance,robot control,fuzzy control,neuro fuzzy,navigation,motion planning,cad,supervised learning
Obstacle avoidance,Motion planning,Robot control,Control theory,Computer science,Control theory,Robot kinematics,Fuzzy control system,Robot,Mobile robot
Conference
ISSN
Citations 
PageRank 
1098-7584
0
0.34
References 
Authors
4
2
Name
Order
Citations
PageRank
Iluminada Baturone114923.70
Andrés Gersnoviez2273.92