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Memorias de investigación
Ponencias en congresos:
Fuzzy Control System Navigation using Priority Areas
Año:2008
Áreas de investigación
  • Automática
Datos
Descripción
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.
Internacional
Si
Nombre congreso
The 8th International FLINS Conference on Computational Intelligence in Decision and Control
Tipo de participación
960
Lugar del congreso
Madrid, Spain
Revisores
Si
ISBN o ISSN
978-981-279-946-3
DOI
Fecha inicio congreso
21/09/2008
Fecha fin congreso
24/09/2008
Desde la página
0
Hasta la página
0
Título de las actas
Fuzzy Control System Navigation using Priority Areas
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Ivan Fernando Mondragon Bernal (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
  • Autor: Carol Viviana Martinez Luna (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Visión por computador
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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