Support Value-Based NFSMC for Wheeled Mobile Robot Path Tracking in Unknown Environments

摘要: Mobile robot navigation is an obscure condition that plays a vital role in different applications such as military purposes, navy, etc. now day's lot of problems occur during navigation. To solve the problem RGB-Depth sensor along with support value-based neuro-fuzzy sliding mode controller techniques (SVB-NFSMC) are proposed. The used to estimate depth map using linear coefficients bilateral filter. Then angular and velocity calculated define position object movement. calculation value based on above estimation values. Here training data set input given controller. Subsequently, provides guiding commands terms guidance law, control law system. ANFIS GWO algorithm optimize parameters then Lyapunov function analyze stability Finally, compare proposed work existing AKH-NFIS other SMC methods better outcomes.