Fuzzy reactive navigation for autonomous mobile robot with an offline adaptive neuro fuzzy system

摘要

This paper presents the conception, realization and fuzzy reactive navigation of mobile robot. We have proposed a reactive navigation system based on the fuzzy logic, this system allows the robot to navigate in a terrain and reach its target and avoiding the obstacles. Also we have adjusted this system by an offline neuro-fuzzy algorithm. And we have achieved a 3D platform of simulation for the validation of our approach. Also we have realized a real differential mobile robot (called ARP), equipped with two odometers and three infrared sensors and one radio module for the communication between the robot and computer. And finally we have realized a software application that permits to send a target punctual coordinates toward the robot.