Behavior control of a mobile robot based on Fuzzy logic and Neuro Fuzzy approaches for monitoring wall

Abstract

This work describes the design and development of controllers based on artificial intelligence tried on a newly design of a mobile robot type-vehicle to control behavior for monitoring wall. Two approaches have been optimized and developed to control the robot: The first one is based on Fuzzy logic. This control algorithm combines the different sensory information and provides a suitable control command allowing the mobile robot to follow the wall deviations. The second approach consists of applying a hybrid-type Neuro-Fuzzy ANFIS controller for the same task. This controller combines the advantages of Fuzzy logic and Neural Networks. Simulations results are presented and implemented with VHDL using ANFIS architecture.