Skip to main content
SpringerLink
Log in

Path following behavior for an autonomous mobile robot using neuro-fuzzy controller

  • Case Study
  • Published:
International Journal of System Assurance Engineering and Management Aims and scope Submit manuscript

Abstract

This paper presents a navigation method for an autonomous mobile robot. In order to equip the robot by capability of autonomy and intelligence in its environment, the control system must perform many complex information processing tasks in real time and it is well suited to use the soft-computing techniques. The objective of this paper is to elaborate an intelligent control system for the path following behavior by mobile robot using a neuro-fuzzy controller. The hybrid approach refers to the way of applying learning techniques offered by neural networks for fuzzy systems parameter identification. The proposed controller is used for pursuing a moving target. Simulation results show the effectiveness of the designed controller.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12

Similar content being viewed by others

References

  • Botros M (2005) Application of fuzzy logic in mobile robots control, studfuzz. Springer, Berlin, pp 163–193

    Google Scholar 

  • Brooks R (1986) A robust layered control system for a mobile robot. IEEE J Robotics Autom 2(1):14–23

    Article  Google Scholar 

  • Cherroun L, Mechgoug R, Boumehraz M (2011) Path following behavior for an autonomous mobile robot using fuzzy logic and neural networks. Revue Courier du Savoir Scientifique et Technique, University of Biskra, 12:63–70

  • Cuesta F, Ollero A (2005) Intelligent mobile robot navigation. Springer, Berlin

    MATH  Google Scholar 

  • Fulles R (1995) Neuro fuzzy systems. Abo Academy University, Abo

    Google Scholar 

  • Gauthier E (1999) Utilisation des Réseaux de Neurones Artificiel pour la Commande d’un Véhicule Autonome”. Thèse de Doctorat, Institut National Polytechnique de Grenoble

  • Hong F, Sam Ge S, Pang C, Lee T (2010) Robust adaptive neuro-fuzzy control of uncertain nonholonomic systems. J Control Theory Appl 8(2):125–138

    Article  MATH  MathSciNet  Google Scholar 

  • Jang JSR (1993) ANFIS: adaptive-network-based fuzzy inference system. IEEE Trans Syst Man Cybern 23:665–685

    Article  Google Scholar 

  • Janglová D (2004) Neural networks in mobile robot motion. Int J Adv Robotic Syst 1(1):15–22

    Google Scholar 

  • Jantzen J (1998) Design of fuzzy controllers. Technical University of Denmark, Department of Automation. Technical report no. 98-E 864

  • Khaldoun K, Al-Din TMSN (2009) A neuro-fuzzy reasoning system for mobile robot navigation. Jordan J Mech Ind Eng 3(1):77–88

    Google Scholar 

  • Passino KM, Yurkovich S (1998) Fuzzy control. Addison Wesley, Menlo Park

    Google Scholar 

  • Rusu P et al (2003) Behavior-based neuro-fuzzy controller for mobile robot navigation. IEEE Trans Instrum Meas 52(4):1335–1340

    Article  Google Scholar 

  • Saffiotti A (1997) The uses of fuzzy logic for autonomous robot navigation. Soft Comput 1(4):180–197

    Article  Google Scholar 

  • Tzafestas SG, Blekas KD (1997) Hybrid soft computing systems: a critical survey with engineering applications. National Technical University of Athens, Greece

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Sciences and Technology Department, University of Djelfa, 17000, Djelfa, Algeria

    Lakhmissi Cherroun

  2. Electrical Engineering Department, University of Biskra, Biskra, Algeria

    Mohamed Boumehraz

Authors
  1. Lakhmissi Cherroun
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mohamed Boumehraz
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Lakhmissi Cherroun.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Cherroun, L., Boumehraz, M. Path following behavior for an autonomous mobile robot using neuro-fuzzy controller. Int J Syst Assur Eng Manag 5, 352–360 (2014). https://doi.org/10.1007/s13198-013-0174-5

Download citation

  • Received:

  • Revised:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s13198-013-0174-5

Keywords

Search

Navigation