Mobile robot navigation in unknown static environments using ANFIS controller

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• 作者：Anish Pandey^a ; ^{anish06353@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Saroj Kumar^b ; ^{saroj4sks@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Krishna Kant Pandey^a ; ^{kknitrkl@yahoo.in" class="auth_mail" title="E-mail the corresponding author} ; Dayal R. Parhi^a ; ^{dayaldoc@yahoo.com" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Navigation ; Obstacle avoidance ; Sensors ; Steering angle ; Arduino microcontroller
• 刊名：Perspectives in Science
• 出版年：2016
• 出版时间：September 2016
• 年：2016
• 卷：8
• 期：Complete
• 页码：421-423
• 全文大小：615 K

文摘

Navigation and obstacle avoidance are the most important task for any mobile robots. This article presents the Adaptive Neuro-Fuzzy Inference System (ANFIS) controller for mobile robot navigation and obstacle avoidance in the unknown static environments. The different sensors such as ultrasonic range finder sensor and sharp infrared range sensor are used to detect the forward obstacles in the environments. The inputs of the ANFIS controller are obstacle distances obtained from the sensors, and the controller output is a robot steering angle. The primary objective of the present work is to use ANFIS controller to guide the mobile robot in the given environments. Computer simulations are conducted through MATLAB software and implemented in real time by using C/C++ language running Arduino microcontroller based mobile robot. Moreover, the successful experimental results on the actual mobile robot demonstrate the effectiveness and efficiency of the proposed controller.