A neuro-fuzzy controller for mobile robot navigation and multirobot convoying.

A neuro-fuzzy controller for mobile robot navigation and multirobot convoying. Research Abstract Details 

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A neuro-fuzzy controller for mobile robot navigation and multirobot convoying. Abstract Text:

K C Ng,M M Trivedi,

A Neural integrated Fuzzy conTroller (NiF-T) which integrates the fuzzy logic representation of human knowledge with the learning capability of neural networks is developed for nonlinear dynamic control problems. NiF-T architecture comprises of three distinct parts: (1) Fuzzy logic Membership Functions (FMF), (2) a Rule Neural Network (RNN), and (3) an Output-Refinement Neural Network (ORNN). FMF are utilized to fuzzify sensory inputs. RNN interpolates the fuzzy rule set; after defuzzification, the output is used to train ORNN. The weights of the ORNN can be adjusted on-line to fine-tune the controller. In this paper, real-time implementations of autonomous mobile robot navigation and multirobot convoying behavior utilizing the NiF-T are presented. Only five rules were used to train the wall following behavior, while nine were used for the hall centering. Also, a robot convoying behavior was realized with only nine rules. For all of the described behaviors-wall following, hall centering, and convoying, their RNN's are trained only for a few hundred iterations and so are their ORNN's trained for only less than one hundred iterations to learn their parent rule sets.

A neuro-fuzzy controller for mobile robot navigation and multirobot convoying. Publishing Authors By Initials

KC Ng,MM Trivedi,

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A neuro-fuzzy controller for mobile robot navigation and multirobot convoying. Journal Published:

PUBLICATION TYPE: Journal Article

Journal: IEEE transactions on systems, man, and cybernetics

VOLUME: 28

Page Numbers: 829-40

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ISSN: 1083-4419

DAY: 7

MONTH: 02

YEAR: 1998

A neuro-fuzzy controller for mobile robot navigation and multirobot convoying. Information

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LANGUAGE: eng

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Grant and Affiliation Information for A neuro-fuzzy controller for mobile robot navigation and multirobot convoying.

AFFILIATION: Dept. of Electr. & Comput. Eng., California Univ., San Diego, La Jolla, CA.

Country: United States

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MEDLINETA: IEEE Trans Syst Man Cybern B C

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