Development of the Intelligent Mobile Robot for Service Use Report 1: Environmental-Adjustable Autonomous Locomotion Control System
Takayuki Tanaka, Kazuo Yamafuji and Hidenori Takahashi
Department of Mechanical and Control Engineering, the University of Electro-Communications, 1-5-1 Chofugaoka, Chofu Tokyo, 182 Japan
We have developed an intelligent mobile robot for use as an office “secretary/ helper” by day and “security maintenance guard” by night. The robot’s autonomous locomotion control system (ALCS) plans its paths, recognizes absolute positions and learns navigation control. To aid the robot in moving more appropriately and smoothly among human beings and obstacles in an office environment, we studied learning by a fuzzy neural network that tunes membership functions for fuzzy locomotion control, i.e., the intelligent robot learns to move autonomously through its surroundings. Results obtained by computer simulation show the proposed method is useful in autonomous robot locomotion control.