Advanced Control Algorithms for Mobile Robot
Agata Nawrocka
AGH University of Science and Technology
Faculty of Mechanical Engineering and Robotics
Department of Process Control
Krakow, Poland
nawrocka@agh.edu.pl
Andrzej Kot
AGH University of Science and Technology
Faculty of Mechanical Engineering and Robotics
Department of Process Control
Poland, Krakow
e-mail: ankot@agh.edu.pl
Abstract— Among the issues discussed in this article the main
problem concerns a neuro-fuzzy system (ANFIS) for controlling a
mobile robot, which is considered one of the methods of artificial
intelligence. The first part discusses the classical approach to
control a mobile robot. Firstly, a mathematical model was
presented describing the kinematics of a two-wheel mobile robot,
which was later used for the simulation of the proposed algorithm.
Secondly, a method for designing an ANFIS controller was
described with the use of reverse learning. A flowchart of learning
was presented together with a final control layout. The next part
was devoted to a detailed description of the proposed algorithm
for controlling a mobile robot. It was divided into three parts due
to the complexity of the algorithm. Each subsection contains a
block diagram and the description of the learning process for each
of the employed networks.
The last part features tests of the proposed solutions. At the
beginning, a comparison between the ANFIS controller and
conventional controllers was presented. Next, a simulation
environment, in which the proposed algorithm had been tested,
was discussed. Finally, the paper presents the performance of the
mobile robot control in an unfamiliar environment with the help
of ANFIS.
Keywords—neural control, ANFIS, mobile robot, symulation
tests, robot kinamatics.
I. INTRODUCTION
Nowadays, robotics and artificial intelligence are strong
developing branches of modern science. The soft computing
techniques are wide-spread in the software world and are
employed in games, recommendation systems (social media,
dedicated advertising), as well as image and natural speech
recognition. However, the classical approach to solving design
problems still remains popular in the field of robotics. The main
assumptions made while programming robots involve
following the trajectory or reaching the target while
circumnavigating obstacles. Most often tasks are executed
through controlling systems based on kinematic and dynamic
978-1-5090-4862-5/17/$31.00 ©2017 IEEE
Marcin Nawrocki
AGH University of Science and Technology
Faculty of Mechanical Engineering and Robotics
Department of Mining, Dressing and Transport Machines
Krakow, Poland
marcin.nawrocki@agh.edu.pl
equations. Such an approach has been presented, among others,
in an academic textbook [1], in which the authors described
very comprehensively the issues related to the autonomous
control of mobile robots with the use of classical methods.
Nevertheless, these solutions achieve their full potential when
there are no obstacles in the robot’s surroundings. There are two
cases of undesirable objects appearing in a robot’s way: in
familiar and unfamiliar environments. Having a roadmap
allows the use of algorithms for motion planning (Voronoi
diagram, visibility diagram), which find the shortest path to the
destination. However, a problem starts to appear when the robot
is in an unfamiliar environment in which data collected from
the sensors constitute the sole source of information. The above
mentioned algorithms operate only and exclusively with the full
knowledge of the roadmap, and therefore, robots operating in
unfamiliar surroundings are navigated by programmes based on
the behavioural patterns of insects (turn left or right in front of
the obstacle) or on following the path along the nearest wall. As
these methods fail to be efficient, scientists began employing
soft computing techniques in robotics. Their research gave rise
to a wide range of scientific articles and books presenting many
tools of artificial intelligence from fuzzy logic [2] to neuro-
fuzzy systems [1], [3][4][5].
II. CLASSICAL CONTROL OF THE MOBILE ROBOT
The classical approach to the mobile robot control is based
on kinematic and dynamic equations [6]. Over the years,
various algorithms were developed enabling the controlled
robot to go around obstacles and execute its task. Before
discussing the control based on the proposed algorithm, the
general principles related to the classical approach to the
problem will first be presented.
412
 1) Kinematics of the mobile robot.
In order to provide a description of the kinematics, a model
of a two-wheel robot with a differential drive is presented in
Fig. 1. whose axis of rotation coincides with the geometric
centre. The advantage of this design is its simple mathematical
model and the ability to control two independent drives.
Kinematic equations are used for the calculation of the linear
and angular displacement of the robot, which allows for a
representation of the object in space.
The following is the vector of the mobile robot’s location:
[ , , ], where particular components represent the
Cartesian coordinates of point P, and the rotation angle for the
mobile robot in relation to the main axis of the coordinate
system. When the robot operates, the values are being updated
with the help of kinematic equations. When the motion takes
place, linear speeds for particular wheels are determined using
equation 1.
V / = / (1)
where: / – the angular velocity of the wheels,
respectively, the subscript specifies the left
wheel and the right wheel,
– diameter of a circle.
Y structure of ANFIS is obtained with a number of membership
YR
XR
θ exponentially along with their increase. This effect is undesired,
b
P as it significantly extends the time of learning.
appropriate projection of the main coordinate system on the XY
axes. Finally, they take the form of equations 4 – 6.
=∫ (4)
=∫ dt ∙ cos (5)
= ∫V ∙ (6)
III. MOBILE ROBOT CONTROL ALGORITHM BASED ON ANFIS
An ANFIS controller appears identical to a fuzzy controller,
because they share a common feature that is fuzzy logic.
However, they differ when it comes to how they are designed
and how they function [8]. A conventional fuzzy controller is
designed entirely by an engineer [11,12]. The ranges and
positions of the membership function are imposed a priori. In
an ANFIS controller, the stage in which the appearance of fuzzy
logic is shaped is performed by neural networks. The task of the
designer comes down to collecting appropriate training
samples, and sometimes also to determining the imposed
number of membership functions [13,14]. However, this
involves a significant increase in network topology, which
ultimately causes the learning time to grow. In order to prevent
an unwanted expansion of the network, fuzzy clustering is often
used. Thanks to using the method of data grouping, an initial
functions designated by that algorithm, and also much smaller
topology. The differences in the obtained structures are
represented by Fig. 2. One can notice that the structure
involving an imposed amount of membership functions grows

Fig. 1. Diagram of a mobile robot in a Cartesian [7]

The obtained linear speeds of the wheels are used to

designate the linear and angular speeds at point , which are
calculated using the formulae 2 and 3.
V +
V =
where: – the linear speed of the robot at a point P
– linear speed of the right wheel,
– linear velocity of the left wheel.
V −
= controllers is the so-called reverse learning. The block diagram
where: – angular speeds of the robot at point ,
– linear speeds of the right wheel,
– linear velocity of the left wheel,
– track width of a mobile robot.
The values of the [ , , ] vector are determined by
calculating the integrals of the formulae 2 and 3 and then the
Fig. 2. ANFIS structures: a) the number of membership functions imposed a
priori by the designer; b) the number of membership functions designated by
(2) using fuzzy clustering
In his book [9], R. Jang presented a comprehensive theory
related to the adaptive neuro-fuzzy inference system (ANFIS),
as well as ways in which it can be used. One of these, among
others, was to present different variants of controllers based on
ANFIS. The most common method of designing these
( 3)
of the learning algorithm is presented in Fig. 3.
In traditional solutions, the controller for a direct current
engine is created following the model of traditional fuzzy
controllers, i.e. where the input consists of the error = −
and the change in error = − − . However,
the flowchart of the proposed controller which was presented in
Fig. 3. is based solely on the publication. This concept assumes
that the inputs of the controller are: the reference signal ,

413
which in this case is the target engine speed, and the response error amounted to around 0.087 in both cases. The final shape
of the system . of the membership function is shown inFig. 6. and Fig. 7. As is
Part of the navigation algorithm for the mobile robot evident, their shape after learning does not differ too much
responsible for circumventing obstacles consists of two neuro- compared to the original settings. This is due to the use of fuzzy
fuzzy networks. Inputs of both structures are readings of three clustering, which in itself can initially estimate the groups of
distance sensors, while the outputs are speeds of engines, with samples which are included in the grouped data.
the stipulation that each of them is responsible for a different
actuator.
In order to train these structures, collecting appropriate
samples was necessary. For this purpose, various obstacle
variants that occur in the robot’s environment were created in a
simulation programme. The result of the simulation was
collecting 30 training data.
The structure training was carried out using the Fuzzy Logic
Toolbox of MATLAB/Simulink. Initially, a method imposing
the number of membership functions was used. The training
process was carried out for a triangular, bell and Gaussian
membership functions and respectively for the numbers Fig. 5. Network structure adapted to circumnavigate obstacles
[ , , ], [5,5,5] and [7,7,7]. After 100 iterations, the training
error for all cases [ , , ] equalled 0.88. For the remaining When compared to previous attempts, a much bigger ratio
variants, depending on the type of the membership function, it of difference in network responses to training values was
amounted to . One might think that such network obtained. However, as will be shown later, this error allowed to
performance should be satisfactory, but during testing it was achieve the ability to generalise decisions taken by the robot in
found that the algorithm does not have the ability to generalise, an unknown environment. The algorithm is able to determine
and thus the robot could not move about in an environment with what speed the robot should apply in any setting of obstacles
obstacles. and itself.
u(k) y(k+1)
Obiekt
+

- ANFIS
y(k)
z −1
Identyfikator

Fig. 3. Block diagram presenting reverse learning Fig. 6. ANFIS network membership functions of the left engine

As the results obtained through the method involving an

imposed number of membership functions proved
unsatisfactory, fuzzy clustering was used in order to obtain the
initial structure of an inference system. Fuzzy clustering was
carried out for each speed with the same training data assumed
as input. As a consequence, identical results were obtained for
both, i.e. twelve initial membership functions which can be seen
in Fig. 4. The structure of the network was presented in Fig. 5. Fig. 7. ANFIS network membership functions of the right engine

A. Simulation and analysis of the algorithm

Fig. 4. The initial shape of membership functions respectively for the
inputs of the left, middle, and right sensors
Next, the obtained initial models of fuzzy inference were
subjected to a training process for 100 epochs. The training
So far, only theoretical information concerning the
presented control of the mobile robot was presented. A
comparison of the ANFIS controller and other controllers is
presented below.
B. Comparison of controllers
In order to design the controller, what is required is training
data corresponding to two inputs and one output. Their
acquisition was carried out in Simulink. The next stage
consisted in carrying out training based on the collected

414
samples. For this purpose, again a tool in the Fuzzy Logic
Toolbox was used. This time, the best results were achieved
when using the method involving an imposed number of
membership functions. In order to design the controller, three
triangular membership functions were used. The training was
carried out in 100 epochs, however after a few iterations the
network had already reached the global minimum, which is
evidenced by a constant error rate at the level of the
0.00312851. The final result is a plane of the ANFIS system,
which was presented in Fig. 8.
Fig. 8. Plane of the ANFIS controller
Once the ANFIS controller is ready, one can compare its
characteristic features with other controllers. To this end, a
traditional PID-type controller was designed, the difference
being that the settings were selected by a Simulink Design
Optimisation tool using the method of the steepest descent. The
main assumption when shaping the response was the shortest
time of adjustment, that is: one which is closest to the ANFIS
controller.
A comparison of the response of the ANFIS controller with
a PID controller and the response of an open system is presented
in Fig. 9. What is important is the small static error of the
system with the proposed controller, although it is acceptable
and equals approximately 2.5%. One can also see significant
differences in the time of adjustment between the various
responses. For the open system the adjustment time equals 0.3
[s], for PID it equals 0.15 [s], while for ANFIS it is 0.01 [s].
Fig. 9. Comparison of the responses of control systems
IV. CONCLUSION
The main concept behind the presented results was to
examine whether artificial intelligence techniques are able to
replace the navigation algorithms which are widely used in
robotics to control mobile robots. The answer to this question is
not unequivocal. On the one hand, the application of ANFIS or
other AI techniques allows to reach the destination in a
collision-free way in an unfamiliar environment, but on the
other hand, traditional algorithms can achieve similar results.
The biggest problem during the design of an adaptive neuro-
fuzzy inference system turned out to be collecting appropriate
training samples. The most common effect of this was the
overtraining of the network, which resulted in that the control
did not work at all, because it could not orient itself in an
environment other than the one from which the training data
had been obtained.
Despite the problems that arose in the course of designing
the control, further work will be carried out in order to apply
other artificial intelligence techniques. What is also considered
is the use of swarm algorithms and neuroevolution networks in
robotics.
ACKNOWLEDGMENT
Scientific research was financed from AGH, WIMiR Statute
Work: 11.11.130.958.
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