Ultrasonic Sensor Based Fuzzy-Neural Control Algorithm of Obstacle Avoidance for Mobile Robot

Authors:
Hongbo Wang;Chaochao Chen;Zhen Huang
Affiliations:
Robotics Institute, Yanshan University, Qinhuangdao, Hebei Province 066004, P.R. China;Robotics Institute, Yanshan University, Qinhuangdao, Hebei Province 066004, P.R. China;Robotics Institute, Yanshan University, Qinhuangdao, Hebei Province 066004, P.R. China
Venue:
ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Advances in Neural Networks
Year:
2007

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Abstract

This paper presents a novel fuzzy-neural control algorithm to realize obstacle avoidance of a mobile robot. A heuristic fuzzy-neural network is developed based on heuristic fuzzy rules and the Kohonen clustering network. By applying the off-line and unsupervised training method to this network, the pattern mapping relation between ultrasonic sensory input and velocity command is established. This paper describes mechanical design of the mobile robot, the arrangement of ultrasonic sensors, the obstacle avoidance system based on FKCN, classification of obstacle, the control algorithm for obstacle avoidance and training data library. In order to verify the effectiveness of this algorithm, we give the results of simulation in a computer virtual environment.