移动机器人的神经模糊控制

2022 IEEE 21st international Ccnference on Sciences and Techniques of Automatic Control and Computer Engineering (STA) Pub Date : 2022-12-19 DOI:10.1109/STA56120.2022.10018999

Islem Reguii, Imen Hassani, C. Rekik

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引用次数: 0

摘要

本文旨在研究如何解决机器人导航问题。这个问题可以用两种技术来处理。研究发现，模糊逻辑系统能够在未知环境中实现自主移动机器人的导航。同样，利用神经模糊调节模糊控制器的结果参数，以驱动khepera IV机器人以最优、安全的轨迹到达目标。对比研究了自适应神经模糊推理系统(ANFIS)对模糊逻辑控制器(FLC)的性能。仿真结果验证了所开发技术的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Neuro-fuzzy Control of a Mobile Robot

This paper is aimed at looking in to solve the robot navigation problem. This problem is treated using two techniques. It has been found that the fuzzy logic system is able to navigate the autonomous mobile robot in an unknown environment. In the same way, the neuro-fuzzy is used to adjust the consequences parameters of fuzzy controller in order to drive the khepera IV robot to the target, with an optimal and safe trajectory. A comparative study is made to show the performance of the Adaptative Neuro-Fuzzy Inference System (ANFIS) against fuzzy logic controller (FLC). Simulation results are given to demonstrate the satisfactory of the developed techniques.

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2022 IEEE 21st international Ccnference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

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