Indoor Navigation Using Adaptive Neuro Fuzzy Controller for Servant Robot

Abstract

We present our ongoing work on the development of Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for humanoid servant robot designed for navigation based on vision. In this method, black line on the landmark used as a track for robot's navigation using webcam as line sensor. We proposed architecture of ANFIS controller for servant robot based on mapping method, 3 input and 3 output applied to the controller. Only 45 training data used for navigation and best error starting at epoch 62. Each of the components are described in the paper and experimental results are presented. Humanoid servant robot also equipped with 4DOF arm robot, face recognition and text to speech processor. In order to demonstrate and measure the usefulness of such technologies for human-robot interaction, all components have been integrated and have been used for a servant robot named Srikandi I. Based on experiments, ANFIS controller successfully implemented as controller for robot's navigation.