ANFIS Approach for Navigation of Mobile Robots

摘要

This paper, discusses about navigation control of mobile robot using adaptive neuro-fuzzy inference system (ANFIS) in a real word dynamic environment. In the ANFIS controller after the input layer there is a fuzzy layer and rest of the layers are neural network layers. The adaptive neuro-fuzzy hybrid system combines the advantages of fuzzy logic system, which deal with explicit knowledge that can be explained and understood, and neural network, which deal with implicit knowledge, which can be acquired by learning. The inputs to fuzzy logic layer are front obstacle distance, left obstacle distance, right obstacle distance and target steering. A learning algorithm based on neural network technique has been developed to tune the parameters of fuzzy membership functions, which smooth the trajectory generated by the fuzzy logic system. Using the developed ANFIS controller, the mobile robots are able to avoid static and dynamic obstacles, and reach the target successfully in cluttered environments. The experimental results agree well with the simulation results, proves the authenticity of the theory developed.