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An Embedded Real-Time Neuro-Fuzzy Controller for Mobile Robot Navigation

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Academic year: 2021

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Figure

Fig. 1. Block diagram of the neuro-fuzzy navigation system.
Table 1  Fuzzy sets for the linguistic variable “angular direction to goal relative to robot ( M )”
Fig. 6. The robot’s path through a cluttered environment to its goal location.
Fig. 8. The robot may get trapped in some large U-shaped obstacle configurations.

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