A. Cardenas, Javier G. Rázuri, D. Sundgren, R. Rahmani
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Autonomous Motion of Mobile Robot Using Fuzzy-Neural Networks
This paper analyzes the performance and practical implementation of fuzzy-neural networks for the autonomous motion of mobile robots. The designed fuzzy-neural controller is a refined version of a conventional fuzzy controller, and was trained to optimize a given cost function minimizing positioning error. It was found that the mobile robot with fuzzy-neural controller presents good positioning and tracking performance for different types of desired trajectories. It was verified by computer simulation as well as experimentally using a laboratory-scale car-like robot model.
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