Computational intelligence in decision and control

Olivares Méndez, Miguel Ángel; Campoy Cervera, Pascual; Martínez Luna, Carol Viviana; Correa Caicedo, Juan Fernando y Mondragon Bernal, Ivan Fernando (2008). Computational intelligence in decision and control. En: "The 8th International FLINS Conference on Computational Intelligence in Decision and Control", 21/09/2008-24/09/2008, Madrid, España. ISBN 978-981-279-946-3.

Descripción

Título: Computational intelligence in decision and control
Autor/es:
  • Olivares Méndez, Miguel Ángel
  • Campoy Cervera, Pascual
  • Martínez Luna, Carol Viviana
  • Correa Caicedo, Juan Fernando
  • Mondragon Bernal, Ivan Fernando
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: The 8th International FLINS Conference on Computational Intelligence in Decision and Control
Fechas del Evento: 21/09/2008-24/09/2008
Lugar del Evento: Madrid, España
Título del Libro: Proceedings of the The 8th International FLINS Conference on Computational Intelligence in Decision and Control, FLINS 2008
Fecha: 2008
ISBN: 978-981-279-946-3
Materias:
Palabras Clave Informales: Fuzzy logic, autonomous navigation, adaptive control, fuzzy control, mobile robots, collision avoidance, reactive navigation, priority areas.
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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 eject of the previous system by making the trajectories significantly straighter and hence reducing the time to reach the goal position.

Más información

ID de Registro: 4807
Identificador DC: http://oa.upm.es/4807/
Identificador OAI: oai:oa.upm.es:4807
URL Oficial: http://www.mat.ucm.es/congresos/flins2008/
Depositado por: Memoria Investigacion
Depositado el: 05 Nov 2010 11:02
Ultima Modificación: 20 Abr 2016 13:53
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