Neural network and fuzzy logic techniques based collision avoidance for a mobile robot

摘要

This paper is concerned with a mobile robot reactive navigation in an unknown cluttered environment based on neural network and fuzzy logic. Reactive navigation is a mapping between sensory data and commands without planning. This article's task is to provide a steering command letting a mobile robot avoid a collision with obstacles. In this paper, the authors explain how to perform a currently perceptual space partitioning for a mobile robot by the use of an ART neural network, and then, how to build a 3-dimensional fuzzy controller for mobile robot reactive navigation. The results presented, whether experimented or simulation, show that our method is well adapted to this type of problem.