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    An embedded real-time neuro-fuzzy controller for mobile robot navigation

    Zhang, N. and Beetner, D.G. and Wunsch, D.C. and Hemmelman, B. and Hasan, Abul (2005) An embedded real-time neuro-fuzzy controller for mobile robot navigation. In: UNSPECIFIED (ed.) IEEE International Conference on Fuzzy Systems. IEEE Computer Society, pp. 319-324. ISBN 0780391594.

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    A reactive fuzzy logic based control strategy was developed for mobile robot navigation. To decrease the number of fuzzy rules and related processing, a RAM-based neural network was combined with the fuzzy logic strategy. The fuzzy rules are used to interpret sensor information. The neural network uses results from the fuzzy logic as well as environmental information to make navigation decisions. The feasibility of this neuro-fuzzy approach was demonstrated on a mobile robot using a simple, 8-bit microcontroller. Experiments show the approach works well, as the robot was able to successfully avoid objects while seeking a goal in real-time. The neuro-fuzzy approach is code-efficient, fast, and easy to relate to the physical world


    Item Type: Book Section
    School: Birkbeck Faculties and Schools > Faculty of Science > School of Computing and Mathematical Sciences
    Depositing User: Sarah Hall
    Date Deposited: 30 Mar 2021 13:34
    Last Modified: 09 Aug 2023 12:50


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