Bio-inspired Transputer Based-Fuzzy Mobile Robot

Ebrahim Mattar (1) , Khalid Al-Mutib (2) , Hani Hamdan (3) , Mohamad Hamdan (4)

1 University of Bahraïn
2 KSU - King Saud University [Riyadh]
3 E3S - Supélec Sciences des Systèmes
4 LU / ULB - الجامعة اللبنانية [بيروت] = Lebanese University [Beirut] = Université libanaise [Beyrouth]

Mobile robots have been used widely in large number of intelligent based applications, where a random manoeuvring is an essential part of such systems, [1,2]. In this regards, experience has shown that mobile robots do require advanced parallel intelligent based control mechanisms. In this article, it is shown how a mobile robot can be controlled in movement via some rule based system. In this sense, the design, construction and testing of an autonomous mobile robot have already been defined in the literature. A Transputer Embedded Real-Time Controller has been widely used for industrial applications due to their advances. Here, a Fuzzy based Transputer System is used (on board the robot) to meet some intelligence requirements for the navigation and obstacle avoidance. A parallel fuzzy controller is implemented for a mobile robot guidance and obstacle avoidance. This is based on parallel processing of sonar data that do come from the mobile sensory system.

Domaines: Automatique / Robotique; Electronique; Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]

Ebrahim Mattar, Khalid Al-Mutib, Hani Hamdan, Mohamad Hamdan. Bio-inspired Transputer Based-Fuzzy Mobile Robot. Junichi Tadashi and Nakano tnakano. Bio-Inspired Models of Network, Information, and Computing Systems, Springer-Verlag, pp.607-620, 2012, Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, Vol. 87, ⟨10.1007/978-3-642-32615-8_60⟩. ⟨hal-00776715⟩