Fuzzy Sensor-Based Navigation with Neural Tracking Control of the Wheeled Mobile Robot

摘要

Navigation of the wheeled mobile robot in the unknown environment with simultaneous realisation of the generated trajectory, is one of the most challenging and up to date problems in the modern mobile robotics. In the article a new approach is presented to a collision-free trajectory generating for a wheeled mobile robot, realised in a form of the hierarchical control system with two layers. The first layer is a tracking control system, where the Neuro-Dynamic Programming algorithm in the Dual Heuristic Dynamic Programming configuration was applied. The second layer is a trajectory generator where the Fuzzy Logic systems were used. The presented control system generates and realises trajectory of the wheeled mobile robot within the complex task of goal-seeking and obstacle avoiding. The proposed hierarchical control system works on-line, its performance was verified using the wheeled mobile robot Pioneer 2-DX.