A behavior based robot control system using neuro-fuzzy approach


Thesis Type: Postgraduate

Institution Of The Thesis: Orta Doğu Teknik Üniversitesi, Faculty of Engineering, Department of Computer Engineering, Turkey

Approval Date: 2003

Student: DEMET ÖGÜT

Supervisor: FERDA NUR ALPASLAN

Abstract:

In autonomous navigation of mobile robots the dynamic environment is a source of problems. Because it is not possible to model all the possible conditions, the key point in the robot control is to design a system that is adaptable to different conditions and robust in dynamic environments. This study presents a reactive control system for a Khepera robot with the ability to navigate in a dynamic environment for reaching goal objects. The main motivation of this research is to design a robot control, which is robust to sensor errors and sudden changes and adaptable to different environments and conditions. Behavior based approach is used with taking the advantage of fuzzy reasoning in design. Experiments are made on Webots, which is a simulation environment for Khepera robot.