ANFIS generated dynamic path planning for mobile robots in a three-dimensional environment

This thesis addresses the problem of the dynamic path calculation of robots in 3D environments. This method can be essentially applied where collision avoidance and target following are required. The main characteristic of the study is that a new mathematical procedure to generate the path is proposed. Later a neuro-fuzzy technique based on the mathematical procedure is also proposed. This approach allows implementing faster decision-making and can be seen as an efficient algorithm to avoid obstacles and to reach moving targets. Several experimental results in simulation are shown which indicate the performance of the scheme.