TY - JOUR
T1 - Navigation of a Differential Wheeled Robot Based on a Type-2 Fuzzy Inference Tree
AU - Mújica-Vargas, Dante
AU - Vela-Rincón, Viridiana
AU - Luna-Álvarez, Antonio
AU - Rendón-Castro, Arturo
AU - Matuz-Cruz, Manuel
AU - Rubio, José
N1 - Publisher Copyright:
© 2022 by the authors.
PY - 2022/8
Y1 - 2022/8
N2 - 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.
AB - 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.
KW - 2D laser range scanner
KW - ROS
KW - differential wheeled mobile robot
KW - indoor navigation
KW - mechanical odometry
KW - type-2 fuzzy inference tree
UR - http://www.scopus.com/inward/record.url?scp=85137552389&partnerID=8YFLogxK
U2 - 10.3390/machines10080660
DO - 10.3390/machines10080660
M3 - Artículo
AN - SCOPUS:85137552389
SN - 2075-1702
VL - 10
JO - Machines
JF - Machines
IS - 8
M1 - 660
ER -