Neuro-fuzzy Control of a Mobile Robot

Abstract

This paper is aimed at looking in to solve the robot navigation problem. This problem is treated using two techniques. It has been found that the fuzzy logic system is able to navigate the autonomous mobile robot in an unknown environment. In the same way, the neuro-fuzzy is used to adjust the consequences parameters of fuzzy controller in order to drive the khepera IV robot to the target, with an optimal and safe trajectory. A comparative study is made to show the performance of the Adaptative Neuro-Fuzzy Inference System (ANFIS) against fuzzy logic controller (FLC). Simulation results are given to demonstrate the satisfactory of the developed techniques.