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Navigation of Autonomous Mobile Robot Using Adaptive Neuro-Fuzzy Controller

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Intelligent Computing, Networking, and Informatics

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 243))

Abstract

This paper presents a new sensor-based technique for autonomous mobile robot navigation in uncertain environments. In recent day, computational intelligent techniques, such as artificial neural network (ANN), fuzzy inference system (FIS), and adaptive neuro-fuzzy inference system (ANFIS), are mainly considered as applicable techniques from modeling point of view. ANFIS has taken the integrate performance of neural network and fuzzy inference system. In this architecture, different obstacle range data, such as front obstacle distance (FOD), left obstacle distance (LOD), right obstacle distance (ROD), and heading angle (HA) from each ultrasonic range finders, are given as input to the adaptive fuzzy controller and output from the controller is steering angle for the mobile robot. Simulation experiments using MATLAB demonstrate that the proposed ANFIS navigational controller can be effectively applied to navigate the mobile robot safely in unknown environments and reach to target objects.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, National Institute of Technology, Rourkela, 769008, Odisha, India

    Prases Kumar Mohanty & Dayal R. Parhi

Authors
  1. Prases Kumar Mohanty
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  2. Dayal R. Parhi
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Corresponding author

Correspondence to Prases Kumar Mohanty .

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Editors and Affiliations

  1. Computer Science and Engineering, National Institute of Technology Rourkela, Rourkela, Orissa, India

    Durga Prasad Mohapatra

  2. Computer Science and Engineering, SOA University, Bhubaneswar, India

    Srikanta Patnaik

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Mohanty, P.K., Parhi, D.R. (2014). Navigation of Autonomous Mobile Robot Using Adaptive Neuro-Fuzzy Controller. In: Mohapatra, D.P., Patnaik, S. (eds) Intelligent Computing, Networking, and Informatics. Advances in Intelligent Systems and Computing, vol 243. Springer, New Delhi. https://doi.org/10.1007/978-81-322-1665-0_50

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  • DOI: https://doi.org/10.1007/978-81-322-1665-0_50

  • Publisher Name: Springer, New Delhi

  • Print ISBN: 978-81-322-1664-3

  • Online ISBN: 978-81-322-1665-0

  • eBook Packages: EngineeringEngineering (R0)

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