[fuzzy neural network] mobile robot path planning based on Fuzzy Neural Network

1. Software version

matlab2021a

2. System Overview

1. The obstacles in the environment map are static 、 Unknown obstacles , Can be set randomly .（ General Settings 5~7 individual , Obstacles set as regular characters for easy calculation ）

2. The direction of travel of the robot is X The positive direction of the axis ,X Counterclockwise rotation of shaft 90° That is to say Y Axis . The distance between the two driving wheels is 50cm, The diameter of the drive wheel is 30cm. The maximum movement speed of the robot is set to 0.8m/s

3. To simplify the calculation , In front of and along the robot 、 Counter clockwise each deflection 45° Position the sensor .

The robot model is shown in the figure

4. The input of the control system is the distance of the obstacle in front of the robot df