TECHICAL Series MATHEMATICS • INFORMATICS • PHYSICS Series PHILOLOGY Series ECONOMIC SCIENCES Sereies EDUCATIONAL SCIENCES Series LAW AND SOCIAL SCIENCES Series
Neuro-fuzzy Controller for Mobile Robot
(Conducerea neuro-fuzzy a robotului mobil)
Vol LXII • No. 1/2010
Cristina Popescu
Universitatea Petrol-Gaze din Ploieşti, Bd. Bucureşti, 39, Ploieşti
e-mail: cristinap@upg-ploiesti.ro

 Keywords   mobile robot, neural network, fuzzy, neuro-fuzzy control.

 Abstract
A tendency for researchers is avoiding obstacles and reaching a target in navigation of mobile robots, but many results are obtained by simulation. In this paper a neuro-fuzzy based command for robot is proposed, first by designing a fuzzy controller for obstacle avoidance and after by using a Takagi-Sugeno controller, named neuro-fuzzy controller, which learn like a neural network. All the results are obtained by simulation by simulation in Matlab language and by experiments for implementation on the Khepera III mobile robot.

 Rezumat
În prima parte a acestei lucrări a fost prezentată conducerea robotului mobil Khepera III în faza de ocolire a obstacolelor, utilizând un regulator fuzzy. Rezultatele au fost obţinute întâi prin simulare în limbajul Matlab, fiind validate ulterior prin implementarea fizică pe robotul mobil. In partea a doua, s-a realizat conducerea neuro-fuzzy a robotului mobil pentru implementarea aceluiaşi comportament, în condiţiile folosirii regulatorului fuzzy implementat anterior ca profesor. De asemenea, întâi a fost utilizată simularea în Matlab, după care a fost implementat cu succes regulatorul neuro-fuzzy şi pe platforma reală.



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