期刊
COMPUTERS & ELECTRICAL ENGINEERING
卷 101, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.compeleceng.2022.108044
关键词
Fuzzy logic system; Neural network; Mobile robot; Reactive; Deliberative
To achieve successful autonomous navigation, challenges related to perception, localization, planning, and control functions must be addressed. The introduction of a neuro-fuzzy system explores the benefits of both deliberate and reactive navigation control.
To be successful, autonomous navigation must overcome challenges associated with the functions such as detecting perception, current location, planning, and regulating movements. It is possible to have a purposeful and reactive navigational approach. Robots and humans working in the same area must comply with safety laws regarding navigation. As a result, mobile robots in organized environments now have a navigation controller that can operate in reactive and deliberative approaches. Therefore, a neuro-fuzzy system is introduced to explore the benefits of both deliberative and reactive navigation control. It combines neural networks with a fuzzy logic controller and is used to investigate various strategies and give the robot corrective decisional commands. An amigo Bot equipped with a Kinect sensor is used to test the proposed approach in conjunction with the Virtual Robot Experimentation Platform (V-REP) and ROS Groovy Galapagos.
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