Skip to main content
main-content

Tipp

Weitere Artikel dieser Ausgabe durch Wischen aufrufen

01.09.2018 | Ausgabe 5/2018

Automatic Control and Computer Sciences 5/2018

Design of Sensor Data Fusion Algorithm for Mobile Robot Navigation Using ANFIS and Its Analysis Across the Membership Functions

Zeitschrift:
Automatic Control and Computer Sciences > Ausgabe 5/2018
Autoren:
S. Adarsh, K. I. Ramachandran
Wichtige Hinweise
The article is published in the original.

Abstract

Design and development of autonomous mobile robots attracts more attention in the era of autonomous navigation. There are various algorithms used in practice for solving research problems related to the robot model and its operating environment. This paper presents the design of data fusion algorithm using Adaptive Neuro Fuzzy Interface (ANFIS) for the navigation of mobile robots. Detailed analysis of various membership functions (MFs) provided in this paper helps to select the most appropriate MF for the design of similar navigation systems. The combined use of fuzzy and neural networks in ANFIS makes the measured distance value of the residual covariance consistent with its actual value. The data fusion algorithm within the controller of the mobile robot fuses the input from ultrasonic and infrared sensors for better environment perception. The results indicate that the data fusion algorithm provides minimal root mean square error (RMSE) and mean absolute percentage error (MAPE) when compared with that of the individual sensors.

Bitte loggen Sie sich ein, um Zugang zu diesem Inhalt zu erhalten

Literatur
Über diesen Artikel

Weitere Artikel der Ausgabe 5/2018

Automatic Control and Computer Sciences 5/2018 Zur Ausgabe