Abstract
This paper presents a type-2 fuzzy inference tree designed for a differential wheeled mobile robot that navigates in indoor environments. The proposal consists of a controller designed for obstacle avoidance, a controller for path recovery and goal reaching, and a third controller for the real-time selection of behaviors. The system takes as inputs the information provided for a 2D laser range scanner, i.e., the distance of nearby objects to the robot, as well as the robot position in space, calculated from mechanical odometry. The real performance is evaluated through metrics such as clearance, path smoothness, path length, travel time and success rate. The experimental results allow us to demonstrate an appropriate performance of our proposal for the navigation task, with a higher efficiency than the reference methods taken from the state of the art.
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering
Reference43 articles.
1. Robotics and Control: Fundamental Algorithms in MATLAB®;Corke,2021
2. Dexterous Robotic Motion Planning Using Intelligent Algorithms;Gutiérrez;Ph.D. Thesis,2015
3. A note on two problems in connexion with graphs;Dijkstra,2022
4. A Formal Basis for the Heuristic Determination of Minimum Cost Paths
5. Theta*: Any-angle path planning on grids;Nash;Proceedings of the Twenty-Second AAAI Conference on Artificial Intelligence,2007
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献