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Abstract
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Article Information:
A Novel Mobile Robot Navigation System Using Neuro-Fuzzy Rule-Based Optimization Technique
Ayman AbuBaker
Corresponding Author: Ayman AbuBaker
Submitted: April 04, 2012
Accepted: May 22, 2012
Published: August 01, 2012 |
Abstract:
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A new novel approach to control the autonomous mobile robot that moved along a collision free
trajectory until it reaches its target is proposed in this study. The approach taken here utilizes a hybrid neuro-fuzzy
method where the neural network effectively chooses the optimum number of activation rules in order to reduce
computational time for real-time applications. Initially, a classical fuzzy logic controller has been constructed for the
path planning problem. The inference engine required 625 if-then rules for its implementation. Then the neural
network is implemented to choose the optimum number of the activation rules based on the input crisp values.
Simulation experiments were conducted to test the performance of the developed controller and the results proved
that the approach to be practical for real time applications. The proposed neuro-fuzzy optimization controller is
evaluated subjectively and objectively with other fuzzy approaches and also the processing time is taken in
consideration.
Key words: Fuzzy logic, mobile robot, neural network, rule-based optimization, , ,
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Abstract
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Cite this Reference:
Ayman AbuBaker, . A Novel Mobile Robot Navigation System Using Neuro-Fuzzy Rule-Based Optimization Technique. Research Journal of Applied Sciences, Engineering and Technology, (15): 2577-2583.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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