This paper addresses a virtual force field between mobile robots and obstacles to keep them away with a desired distance. An online learning method of hybrid force/position control is proposed for obstacle avoidance in a robot environment. An Elman neural network is proposed to compensate the effect of uncertainties between the dynamic robot model and the obstacles. Moreover, this paper uses an Elman fuzzy adaptive controller to adjust the exact distance between the robot and the obstacles. The effectiveness of the proposed method is demonstrated by simulation examples.
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Wen et al. (2011) studied this question.
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