2692-4048ISSN (Online)
2770-0070ISSN (Print)
Volume 15 , Issue 2 , PP: 89-101, 2024 | Cite this article as | XML | Html | PDF | Full Length Article
Mohammed R. Hashim Al-Dahhan 1 * , Mahmood Abdulrazzaq Alsaadi 2 , Ruqayah R. Al-Dahhan 3 , Salah A. Aliesawi 4
Doi: https://doi.org/10.54216/FPA.150208
Intelligent mobile robots move on uncertain grounds, thus requiring good navigation strategies for things like path tracking and obstacle avoidance. This research uses an Omni-drive mobile robot to autonomously approach given objectives in different situations encountered in static and dynamic environments. The paper compares two distinct controllers – fuzzy logic controller and neural network controller- that lead the mobile robot towards its destination without hitting obstacles. These are responsible for adjusting the linear and angular velocities of a mobile robot which makes adaptive navigation possible during real-time. The experimental results have depicted the adaptability of each controller as well as its efficiency especially when dealing with uncertainties involved with the mobile robot navigation system. By systematically evaluating and contrasting them, this study brings out the best performance between Fuzzy Logic and Neural Network Controllers regarding enhancing the autonomy and robustness of Mobile Robots. This research helps to advance knowledge in autonomous systems for practical applications, which will give rise to more efficient navigational techniques for mobile robots; thus, efficient systems that are autonomous become more reliable today. The results show that these controllers are effective in safely steering the robot from its starting point to a specified destination without hitting obstacles.
Omni-drive robot , collision environment , neural network controller , type2 fuzzy logic controller.
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