Journal of Intelligent and Robotic Systems

, Volume 30, Issue 4, pp 311–329

Intelligent Adaptive Mobile Robot Navigation


  • S. Nefti
    • Department of Engineering and TechnologyManchester Metropolitan University
  • M. Oussalah
    • K.U. Leuven, PMA
  • K. Djouani
    • LIIA (Laboratoire d'informatique industriel et de l'automatique)Université Paris XII
  • J. Pontnau
    • LIIA (Laboratoire d'informatique industriel et de l'automatique)Université Paris XII

DOI: 10.1023/A:1011190306492

Cite this article as:
Nefti, S., Oussalah, M., Djouani, K. et al. Journal of Intelligent and Robotic Systems (2001) 30: 311. doi:10.1023/A:1011190306492


This paper deals with the application of a neuro-fuzzy inference system to a mobile robot navigation in an unknown, or partially unknown environment. The final aim of the robot is to reach some pre-defined goal. For this purpose, a sort of a co-operation between three main sub-modules is performed. These sub-modules consist in three elementary robot tasks: following a wall, avoiding an obstacle and running towards the goal. Each module acts as a Sugeno–Takagi fuzzy controller where the inputs are the different sensor information and the output corresponds to the orientation of the robot. The rule-base is generated by the controller after some learning process based on a neural architecture close to that used by Wang and Menger. This leads to adaptive neuro-fuzzy inference systems (ANFIS) (one for each module). The adaptive navigation system (ANFIS), based on integrated reactive-cognitive parts, learns and generates the required knowledge for achieving the desired task. However, the generated rule-base suffers from redundancy and abundance of data, most of which are less useful. This makes the assignment of a linguistic label to the associated variable difficult and sometimes counter-intuitive. Consequently, a simplification phase allowing elimination of redundancy is required. For this purpose, an algorithm based on the class of fuzzy c-means algorithm introduced by Bezdek and we have developed an inclusion structure. Experimental results confirm the meaningfulness of the elaborated methodology when dealing with navigation of a mobile robot in unknown, or partially unknown environment.

neuro-fuzzyfuzzy c-meansnavigationmobile robotics
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© Kluwer Academic Publishers 2001