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Descripción
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| 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. | |
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Internacional
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Si |
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Nombre congreso
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The 8th International FLINS Conference on Computational Intelligence in Decision and Control |
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Tipo de participación
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960 |
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Lugar del congreso
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Madrid, Spain |
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Revisores
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Si |
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ISBN o ISSN
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978-981-279-946-3 |
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DOI
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Fecha inicio congreso
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21/09/2008 |
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Fecha fin congreso
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24/09/2008 |
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Desde la página
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0 |
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Hasta la página
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0 |
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Título de las actas
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Fuzzy Control System Navigation using Priority Areas |