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100			_aNoor, Hasham (131132) _92118
245			_aAdaptive neuro-fuzzy technique for non-linear control of autonomous ground police robot
260			_aIslamabad _bDepartmnet of Electrical Engineering ( Air University Main Campus) _c2016.
300			_axi; 43 p. _eC.D.
520			_aMobile robots have always been a greatest interest from past to present era. With the modern techniques and rapid development, artificial intelligence is sought to be a successive point for whole world. In this regard, Autonomous Ground Vehicle (AGV) plays a key role. It plays a vital role in industry automation and in different applications such as monitoring, transportation and many other applications. Research on AGV has attracted so much attention in recent years for that; they are used in wide range of applications. The key problem area for AGV is it’s handling of navigation, path planning and obstacle avoidance. Conventional controller is designed to make AGV work efficiently and without any issue. But due to its highly nonlinear nature, navigation and path planning issues were never overcome truly. To address these issues, a control scheme supervised by Fuzzy controller is used. Fuzzy inference system has a control methodology based on fuzzy input and controlled output and issue of nonlinear nature is addressed properly. The proposed controller is implemented in MATLAB Simulink. Simulation results show that performance of AGV with fuzzy based controller is superb and with very high tracking accuracy. The ability of proposed controller to handle its nonlinear nature and to maintain its problem area under environmental elements testifies its robustness.
526			_aMSEE
942			_2ddc _cSP
999			_c14210 _d14210