Elman Fuzzy Adaptive Control for Obstacle Avoidance of Mobile Robots Using Hybrid Force/Position Incorporation
Shuhuan Wen, Wei Zheng, Jinghai Zhu, Xiaoli Li, Shengyong Chen · IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews) · 2011
This paper addresses a virtual force field between mobile robots and obstacles to keep them away with a desired distance. An online learning method of hybrid force/position control is proposed for obstacle avoidance in a robot environment. An Elman neural network is proposed to compensate the effect of uncertainties between the dynamic robot model and the obstacles. Moreover, this paper uses an Elman fuzzy adaptive controller to adjust the exact distance between the robot and the obstacles. The effectiveness of the proposed method is demonstrated by simulation examples.