Optimal Mobile Robot Navigation for Obstacle Avoidance Based on ANFIS Controller

Mohamed S. Saleh; Yousif Ismail Al Mashhadany; Maather Alshaibi; Ferdous Majeed Ameen; Sameer Algburi

doi:10.18196/jrc.v6i1.24882

Authors

Mohamed S. Saleh University of Diyala
Yousif Ismail Al Mashhadany University of Anbar https://orcid.org/0000-0003-3943-8395
Maather Alshaibi University of Diyala
Ferdous Majeed Ameen University of Diyala
Sameer Algburi Al-Kitab University

DOI:

https://doi.org/10.18196/jrc.v6i1.24882

Keywords:

Intelligent Controller, Movable Robot, Navigation

Abstract

Over the past 20 years, there has been a lot of research done on the movement control issue of an automated wheeled movable robot. This paper suggests navigation and collision avoidance in a new setting by utilizing the sensor-based steering angle control method, the Adaptive Neuro-Fuzzy Inference System (ANFIS) controller has already been introduced for the safety of navigation of single and multiple movable robots in cluttered surrounding areas. The front, right, and left obstruction distances have been measured using the sharp infrared reported significant and the ultrasonic distance finder sensor. This paper proposes navigating and collision avoidance in a unique environment. It uses the sensor-based angle of steering control approach. The acute ultraviolet detected is significant, and an ultrasound distance finder sensor was utilized to determine front, right, and left jump distances. In this study, a multi-layer ANFIS controller is used, with two levels for movement and the others for hurdle avoidance. The proposed ANFIS controller must be tested using a Matlab simulation. In six separate test situations, six obstacles in the surrounding region are used in a simulation, and then the robot can reach the objective without collisions in the shortest course.

Author Biography

Yousif Ismail Al Mashhadany, University of Anbar

Prof. Dr. Yousif Ismail Mohammed Al-Mashhadany is a lecturer in the Electrical Engineering Department – College of Engineering (Control Engineering). Senior Member IEEE, He received a B.Sc. (1995), M.Sc. (1999), and Ph.D (2010) in the Department of Electrical and Electronic Engineering from the Rashid School of Engineering and Science / University of Technology in Baghdad/Iraq. He completed postdoctoral fellow research in the electrical engineering - control department at the University of Malaya in Malaysia (UMPEDAC) in 2012. He has worked since 2004, a lecturer in the Department of Electrical Engineering / Engineering College / University of Anbar. He has many publications including three books, two chapters, thirty-seven journal papers (Clarivate, Scopus, and international journal), and thirty-two conference papers. He has 15 in H-index with Scopus, 18 with Google Scholar, has 9 H-index in Publons with 310 reviews—editor-in-chief of Anbar Journal of Engineering Science.

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