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Memorias de investigación
Communications at congresses:
Fuzzy Control System Navigation using Priority Areas
Year:2008
Research Areas
  • Automatic
Information
Abstract
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 tra jectory. 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 ob- stacles, 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 tra jectories significantly straighter and hence reducing the time to reach the goal position.
International
Si
Congress
The 8th International FLINS Conference on Computational Intelligence in Decision and Control
960
Place
Madrid, Spain
Reviewers
Si
ISBN/ISSN
978-981-279-946-3
Start Date
21/09/2008
End Date
24/09/2008
From page
0
To page
0
Fuzzy Control System Navigation using Priority Areas
Participants
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Ivan Fernando Mondragon Bernal (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
  • Autor: Carol Viviana Martinez Luna (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Visión por computador
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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