Neuro-fuzzy motion control for mobile robot

作者：Wei Wu, Jean Bosco Mbede, Yi Zhang · 年份：2003 · DOI：10.1109/ijcnn.2002.1005524 · 被引用次数：3 · 研究领域：Robotic Path Planning Algorithms、Robot Manipulation and Learning、Control and Dynamics of Mobile Robots

This paper focuses on autonomous motion control of a nonholonomic platform with a robotic arm. We focus on two components of the motion control architecture and the strong interactions binding them: motion planning and execution. We suggest the use of dynamic path planning to solve the problem of locomotion of a mobile platform, and reactive approaches to solve the motion planning of the arm manipulator. The execution part is designed as an adaptive neuro-fuzzy controller. In real world systems, sensor-based motion control becomes essential to deal with model uncertainties and unexpected obstacles.