Autonomous motion control of mobile robots using fuzzy-neural networks

An analysis of the kinematic modeling of mobile robots as well as the design of control systems for the autonomous motion of robot are presented. A fuzzy controller and two neural controllers have been designed on the basis of fuzzy logic and neural networks which are widely used concepts in the fields of artificial intelligence and nonlinear processing. The fuzzy controller is designed using the knowledge and experience of a human operator. The two neural controller consist of fuzzy-based neural controller and one fuzzy-neural controller integrates the human knowledge processing abilities of fuzzy logic with adaptive capabilities of neural networks, fuzzy-neural controllers implement the process of fuzzy reasoning through neural network structure.