TY - JOUR
T1 - Geo-navigation for a mobile robot and obstacle avoidance using fuzzy controllers
AU - Montiel, Oscar
AU - Sepúlveda, Roberto
AU - Murcio, Ignacio
AU - Orozco-Rosas, Ulises
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2014.
PY - 2014
Y1 - 2014
N2 - This chapter presents the design of a system of fuzzy controllers for a differential mobile robot that was developed to navigate in outdoors environments over a predetermined route from point A to point B without human intervention. The mobile robot has the main features of geo-navigation to obtain its current position during the navigation, obstacles detection and the avoidance of these obstacles in an autonomous form. In this work to achieve the autonomous navigation in real-time, it was necessary to design a system based on fuzzy controllers. The system performs the detection and the analysis of the surrounding environment of the mobile robot to take actions that allow achieving the target point in a safe way. The position and orientation of the mobile robot is achieved with the use of geographical coordinates, through a GPS and the use of a magnetic compass which determines the steering angle. The detection of the environment is through ultrasonic sensors mounted on the mobile robot. All the inputs are taken by the system to compute through fuzzy rules the motion control of the mobile robot, to estimate the position and orientation accurately and to control the speed of the two DC motors to drive the wheels. In this work, the experiments were performed in dynamic outdoors environments, where the mobile robot performed successfully the navigation and the obstacles avoidance. In all the experiments, the mobile robot achieved its mission to reach the target position without human intervention; the results show the validity of the developed system. The experimental framework, experiments and results are explained in terms of performance and accuracy.
AB - This chapter presents the design of a system of fuzzy controllers for a differential mobile robot that was developed to navigate in outdoors environments over a predetermined route from point A to point B without human intervention. The mobile robot has the main features of geo-navigation to obtain its current position during the navigation, obstacles detection and the avoidance of these obstacles in an autonomous form. In this work to achieve the autonomous navigation in real-time, it was necessary to design a system based on fuzzy controllers. The system performs the detection and the analysis of the surrounding environment of the mobile robot to take actions that allow achieving the target point in a safe way. The position and orientation of the mobile robot is achieved with the use of geographical coordinates, through a GPS and the use of a magnetic compass which determines the steering angle. The detection of the environment is through ultrasonic sensors mounted on the mobile robot. All the inputs are taken by the system to compute through fuzzy rules the motion control of the mobile robot, to estimate the position and orientation accurately and to control the speed of the two DC motors to drive the wheels. In this work, the experiments were performed in dynamic outdoors environments, where the mobile robot performed successfully the navigation and the obstacles avoidance. In all the experiments, the mobile robot achieved its mission to reach the target position without human intervention; the results show the validity of the developed system. The experimental framework, experiments and results are explained in terms of performance and accuracy.
UR - http://www.scopus.com/inward/record.url?scp=84927128142&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-05170-3_46
DO - 10.1007/978-3-319-05170-3_46
M3 - Artículo
AN - SCOPUS:84927128142
SN - 1860-949X
VL - 547
SP - 647
EP - 669
JO - Studies in Computational Intelligence
JF - Studies in Computational Intelligence
ER -