| Title |
Navigation of Autonomous Mobile Robot using Fuzzy Neural Network |
| Keywords |
Hierarchically structured algorithm ; Unknown environment ; Autonomous mobile robot |
| Abstract |
This paper proposes a hierarchically structured navigation algorithm for autonomous mobile robot under unknown environment based on fuzzy-neral network The proposed algorithm consists of two basic layers as follows. The lower layer consists of two parts such as fuzzy algorithm for goal approach and fuzzy-neural algorithm for obstacle avoidance. The upper layer which is basically fuzzy algorithm adjusts the magnitude of the weighting factor depending on the environmental situation. The proposed algorithm provides an efficient method to escape local mimimum points as shown in the simulation result. Most simulation results show that this algorithm is very effective for autonomous mobile robots" traveling in unknown field. |