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A NEURAL FUZZY INFERENCE BASED ADAPTIVE CONTROLLER FOR NONHOLONOMIC ROBOTS

Ting Wang, Fabien Gautero, Christophe Sabourin, Kurosh Madani

Abstract


In this paper, we propose a control strategy for a nonholonomic robot which is based on an Adaptive Neural Fuzzy Inference System. The neuro-controller makes it possible the robot track a desired reference trajectory. After a short reminder about Adaptive Neural Fuzzy Inference System, we describe the control strategy which is used on our virtual nonholonomic robot. And finally, we give the simulations’ results where the robot have to pass into a narrow path as well as the first validation results concerning the implementation of the proposed concepts on real robot.

Keywords


Neuro-Fuzzy inference system; Nonholonomic robot; learning; Neuro-controller; Artificial neural network; Software and hardware implementation.

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References


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