Design of mobile robot navigation controller using neuro-fuzzy logic system. (July 2022)

• Record Type: Journal Article
• Authors: Mishra, Divyendu Kumar; Thomas, Aby; Kuruvilla, Jinsa; Kalyanasundaram, P.; Prasad, K. Ramalingeswara; Haldorai, Anandakumar
• Is Part Of: Computers & electrical engineering. Volume 101(2022)
• Publication Date: 2022-07
• Subjects: Fuzzy logic system -- Neural network -- Mobile robot -- Reactive -- Deliberative; Computer engineering -- Periodicals; Electrical engineering -- Periodicals; Electrical engineering -- Data processing -- Periodicals; Ordinateurs -- Conception et construction -- Périodiques; Électrotechnique -- Périodiques; Électrotechnique -- Informatique -- Périodiques; Computer engineering; Electrical engineering; Electrical engineering -- Data processing; Periodicals; Electronic journals; 621.302854
• DOI: 10.1016/j.compeleceng.2022.108044
• Languages: English
• ISSNs: 0045-7906

Abstract

Abstract: To be successful, autonomous navigation must overcome challenges associated with the functions such as detecting perception, current location, planning, and regulating movements. It is possible to have a purposeful and reactive navigational approach. Robots and humans working in the same area must comply with safety laws regarding navigation. As a result, mobile robots in organized environments now have a navigation controller that can operate in reactive and deliberative approaches. Therefore, a neuro-fuzzy system is introduced to explore the benefits of both deliberative and reactive navigation control. It combines neural networks with a fuzzy logic controller and is used to investigate various strategies and give the robot corrective decisional commands. An amigo Bot equipped with a Kinect sensor is used to test the proposed approach in conjunction with the Virtual Robot Experimentation Platform (V-REP) and ROS Groovy Galapagos. Graphical abstract: Image, graphical abstract