Computational intelligence in decision and control

Olivares Méndez, Miguel Ángel and Campoy Cervera, Pascual and Martínez Luna, Carol Viviana and Correa Caicedo, Juan Fernando and Mondragon Bernal, Ivan Fernando (2008). Computational intelligence in decision and control. In: "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.

Description

Title: Computational intelligence in decision and control
Author/s:
  • Olivares Méndez, Miguel Ángel
  • Campoy Cervera, Pascual
  • Martínez Luna, Carol Viviana
  • Correa Caicedo, Juan Fernando
  • Mondragon Bernal, Ivan Fernando
Item Type: Presentation at Congress or Conference (Article)
Event Title: The 8th International FLINS Conference on Computational Intelligence in Decision and Control
Event Dates: 21/09/2008-24/09/2008
Event Location: Madrid, España
Title of Book: Proceedings of the The 8th International FLINS Conference on Computational Intelligence in Decision and Control, FLINS 2008
Date: 2008
ISBN: 978-981-279-946-3
Subjects:
Freetext Keywords: Fuzzy logic, autonomous navigation, adaptive control, fuzzy control, mobile robots, collision avoidance, reactive navigation, priority areas.
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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 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.

More information

Item ID: 4807
DC Identifier: http://oa.upm.es/4807/
OAI Identifier: oai:oa.upm.es:4807
Official URL: http://www.mat.ucm.es/congresos/flins2008/
Deposited by: Memoria Investigacion
Deposited on: 05 Nov 2010 11:02
Last Modified: 20 Apr 2016 13:53
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