Navigational path analysis of mobile robots using an adaptive neuro-fuzzy inference system controller in a dynamic environment

摘要

This article focuses on the navigational path analysis of mobile robots using the adaptive neuro-fuzzy inference system (ANFIS) in a cluttered dynamic environment. In the ANFIS controller, after the input layer there is a fuzzy layer and the rest of the layers are neural network layers. The adaptive neuro-fuzzy hybrid system combines the advantages of the fuzzy logic system, which deals with explicit knowledge that can be explained and understood, and those of the neural network, which deals with implicit knowledge that can be acquired by learning. The inputs to the fuzzy logic layer include the front obstacle distance, the left obstacle distance, the right obstacle distance, and target steering. A learning algorithm based on the 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; this proves the authenticity of the theory developed.