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Fuzzy control system navigation using priority areas
OLIVARES MENDEZ, Miguel Angel; Campoy, P.; MARTINEZ LUNA, Carol et al.
2008In Ruan, D (Ed.) COMPUTATIONAL INTELLIGENCE IN DECISION AND CONTROL
Peer reviewed
 

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Keywords :
fuzzy logic; autonomous navigation; adaptive control; fuzzy control; mobile robots; collision avoidance; reactive navigation; priority areas
Abstract :
[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.
Disciplines :
Computer science
Author, co-author :
OLIVARES MENDEZ, Miguel Angel ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
Campoy, P.;  Univ Politecnica Madrid, Computer Vision Group, ETSII, E-28006 Madrid, Spain.
MARTINEZ LUNA, Carol  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
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.
External co-authors :
yes
Language :
English
Title :
Fuzzy control system navigation using priority areas
Publication date :
2008
Event name :
8th International Conference on Fuzzy Logic and Intelligent Technologies in Nuclear Science
Event organizer :
Complutense Univ, Belgian Nucl Res Ctr, Ghent Univ, Govt Spain
Event place :
Madrid, Spain
Event date :
SEP 21-24, 2008
Main work title :
COMPUTATIONAL INTELLIGENCE IN DECISION AND CONTROL
Editor :
Ruan, D
Publisher :
World Scientific Publ Co Pte Ltd, Singapore, Unknown/unspecified
ISBN/EAN :
978-981-279-946-3
Collection name :
World Scientific Proceedings Series on Computer Engineering and Information Science
Pages :
987-995
Peer reviewed :
Peer reviewed
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since 06 November 2013

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