Reference : Fuzzy control system navigation using priority areas
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/9954
Fuzzy control system navigation using priority areas
English
Olivares Mendez, Miguel Angel mailto [Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.]
Campoy, P. [Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.]
Martinez, C. [Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.]
Correa, J. F. [Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.]
Mondragon, I. [Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.]
2008
COMPUTATIONAL INTELLIGENCE IN DECISION AND CONTROL
Ruan, D
World Scientific Publ Co Pte Ltd
World Scientific Proceedings Series on Computer Engineering and Information Science
987-995
Yes
978-981-279-946-3
Singapore
8th International Conference on Fuzzy Logic and Intelligent Technologies in Nuclear Science
SEP 21-24, 2008
Complutense Univ, Belgian Nucl Res Ctr, Ghent Univ, Govt Spain
Madrid
SPAIN
[en] fuzzy logic ; autonomous navigation ; adaptive control ; fuzzy control ; mobile robots ; collision avoidance ; reactive navigation ; priority areas
[en] This paper presents an improvement for the software implementation (MOFS) of a user adaptive fuzzy control system for autonomous navigation of mobile robots in unknown environments. This improvement consists of a priority areas definition where the environment is measured by a PLS laser sensor, in order to get a reduction in the number of fuzzy rules and also in the computational cost, and hence obtaining improvements in the trajectory. This system has been tested in a pioneer mobile robot and on a robotic wheelchair, odometry sensors are used to localize the robots and the goal positions. The system is able to drive the robots to their goal position avoiding static and dynamic obstacles, without using any pre-built map. This approach improves the way to measure the danger of the obstacles, the way to follow the walls of corridors and the detection of doors. These improvements reduce the zigzag effect of the previous system by making the trajectories significantly straighter and hence reducing the time to reach the goal position.
http://hdl.handle.net/10993/9954
10.1142/9789812799470_0162

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