Development of Novel Average Neuro Fuzzy Hybrid Control Technique for Robot Navigation in Unknown Environments

Abstract

Parhi Dayal R, Sat Chidananda

The current research focuses on development and analysis of novel Average Neuro-Fuzzy Controller for path planning and navigation of mobile robot in highly cluttered environment. During the investigation various researches related to robot, control and navigation have been analysed. For mapping the environments several distance sensors mounted on the robot are used. The sensors readings about the environments have been segmented into various sectors (front, left, right and back sectors). Using the sensors reading robots negotiate with the obstacles present in the environments during navigation from start to goal point. Experimental and simulation results obtained during the current research from various exercises are in agreement and are within 3%. Comparisons between results show the effectiveness of the proposed technique for robot navigation in complex environments. This technique can be used to address various engineering optimisation problems.

PDF