References of "Mondragon, I."
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See detailA visual AGV-urban car using Fuzzy control
Olivares Mendez, Miguel Angel UL; Mellado, I.; Campoy, P. et al

in Automation, Robotics and Applications (ICARA), 2011 5th International Conference on (2011)

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just ... [more ▼]

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just the visual information of a line painted below the car. In order to implement the control of the vehicle, a Fuzzy Logic controller has been implemented, that has to be robust against curvature changes and velocity changes. The only input information for the controller is the visual distance from the image center captured by a camera pointing downwards to the guiding line on the road, at a commercial frequency of 30Hz. The good performance of the controller has successfully been demonstrated in a real environment at urban velocities. The presented results demonstrate the capability of the Fuzzy controller to follow a circuit in urban environments without previous information about the path or any other information from additional sensors. [less ▲]

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See detailFuzzy control system navigation using priority areas
Olivares Mendez, Miguel Angel UL; Campoy, P.; Martinez Luna, Carol UL et al

in Ruan, D (Ed.) COMPUTATIONAL INTELLIGENCE IN DECISION AND CONTROL (2008)

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 ... [more ▼]

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. [less ▲]

Detailed reference viewed: 124 (5 UL)