The Research Of The Obstacle Avoidance Based On Fuzzy Neural Network For Mobile Robot

Robot is a very complex control system with time-varying, strong coupling and nonlinear dynamic characteristics. Because of imprecise measurement and modeling, together with the load changes and external disturbances, it is hardly to get the accurate and complete motion model. In the process of robot controling, a large number of uncertain factors must be considered, that makes the control for the robot has become complicated.Mobile robots obstacle avoidance problem is an important direction of robot motion planning, and is one of the important issues of the robotics field.Since the special nature of mobile robot model, considered the physical significance and implementation methods of the path planning and obstacle avoidance, and the relevant information of the work environment feature obtained information, the real-time obstacle avoidance method for the mobile robot control methods based on the fuzzy neural network (FNN) is presented in the paper. Fuzzy neural network control not only achieve the movement of the mobile robot control and automatic recognise the environmental obstacles, but also can adjust the mobile robot control system parameters, and achieved the control request of the the mobile robot autonomous obstacle avoidance. In this paper, the fuzzy control is the main controller in view of the fuzzy control perception and reasoning ability, and making use of the learning and memory ability of the BP neural network to create and train the degree of membership function of the fuzzy control. This can make the fuzzy control with the self-learning ability, and the neural networks with the inductive reasoning ability, but also can eliminate subjective factors in controlling the parameters, so that the mobile robot achieve real-time, fast and effective avoid obstacles, and enhance the intelligence of the mobile robot.At last, the software simulation of the based on the fuzzy neural networkthe obstacle avoidance algorithm for the mobile robot on the computer platform for MATLAB proved effectiveness of the research.