Method of constructing the navigation system of autonomous mobile robots using fuzzy logic elements
Journal Title: Вісник Тернопільського національного технічного університету - Year 2016, Vol 84, Issue 4
Abstract
Fuzzy logic is used to drive complex process that is difficult to formalize and describe mathematically. To navigate, the information from distance sensors which work in the infrared spectrum radiation is used. Fuzzy system makes decisions based on the output value depending on the input data. Making decision by fuzzy system is due to the conversion of distinct input values to fuzzy, and determining the extent of input relevance to any of fuzzy sets. Calculation of fuzzy operators based on framework built rules is made. The paper contains structural diagram of motion control of autonomous mobile robot based on fuzzy logic. The system is based on artificial neural network, which consists of input, two hidden and output layer. The simulation of autonomous mobile robot control algorithm
Authors and Affiliations
Mykhailo Palamar, Anatolii Poikhalo, Volodymyr Strembitskyi
Keywords
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