Heuristic fuzzy-neuro network and its application to reactive navigation of a mobile robot

Abstract

A novel pattern recognition approach to reactive navigation of a mobile robot is presented in this paper. A heuristic fuzzy-neuro network is developed for pattern-mapping between quantized ultrasonic sensory data and velocity commands to the robot. The design goal was to enable an autonomous mobile robot to navigate safely and efficiently to a target position in a previously unknown environment. Useful heuristic rules were combined with the fuzzy Kohonen clustering network (FKCN) to build the desired mapping between perception and motion. This method provides much faster response to unexpected events and is less sensitive to sensor misreading than conventional approaches. It allows continuous, fast motion of the mobile robot without any need to stop for obstacles. The effectiveness of the proposed method is demonstrated in a series of practical tests on our experimental mobile robot. (C) 2000 Elsevier Science B.V. All rights reserved.