Obstacle Avoidance Using the Human Operator Experience for a Mobile Robot

  • Authors:

  • L. Acosta;G. N. Marichal;L. Moreno;J. A. Mé/ndez;J. J. Rodrigo

  • Affiliations:

  • Department of Applied Physics, University of La Laguna, La Laguna 38271, Tenerife, Spain/ e-mail: nico@cyc.dfis.ull.es;Department of Applied Physics, University of La Laguna, La Laguna 38271, Tenerife, Spain/ e-mail: nico@cyc.dfis.ull.es;Department of Applied Physics, University of La Laguna, La Laguna 38271, Tenerife, Spain/ e-mail: nico@cyc.dfis.ull.es;Department of Applied Physics, University of La Laguna, La Laguna 38271, Tenerife, Spain/ e-mail: nico@cyc.dfis.ull.es;Department of Applied Physics, University of La Laguna, La Laguna 38271, Tenerife, Spain/ e-mail: nico@cyc.dfis.ull.es

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2000

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Abstract

In this paper, a neuro-fuzzy technique has been used to steer a mobile robot. The neuro-fuzzy approach provides a good way to capture the information given by a human. In this manner, it has been possible to obtain the rules and membership functions automatically whereas a fuzzy approach needs to make a prior definition of the rules and membership functions. In order to apply the neuro-fuzzy strategy, two mobile robots have been developed. However, in this paper only the smallest one has been considered. Similar results are obtained for the biggest one. The results of the approach are satisfactory, avoiding the obstacles when the mobile robot is steered to the target.