A Behavior-Based Fuzzy Control System for Mobile Robot Navigation: Design and Assessment

Juan Pablo Vásconez, Mailyn Calderón-Díaz, Inesmar C. Briceño, Jenny M. Pantoja, Patricio J. Cruz

Producción científica: Contribución a los tipos de informe/libroContribución a la conferenciarevisión exhaustiva

1 Cita (Scopus)

Resumen

Decreasing the number of robot navigation accidents due to slow robot reaction times is still an important research topic. This paper proposes a methodology based on a behavior-based fuzzy control scheme for the path planning of a simulated mobile robot. The behaviors are designed based on fuzzy logic and are integrated to switch between them when necessary during navigation in narrow and unknown environments. To test the proposed methodology, we build a simulation environment in which a mobile robot can navigate in straightforward or curved scenarios by using only a Lidar sensor and the proposed behavior-based control scheme. We tested experiment conditions for each scenario, and we evaluated the performance of the vehicle by analyzing the minimum avoidance distance from the obstacles. The simulation results demonstrate that the proposed methodology can be used for a mobile robot to react fast enough to successfully avoid obstacles when navigating in narrow and unknown environments at different velocities.

Idioma originalInglés
Título de la publicación alojadaAdvanced Research in Technologies, Information, Innovation and Sustainability - 3rd International Conference, ARTIIS 2023, Proceedings
EditoresTeresa Guarda, Filipe Portela, Jose Maria Diaz-Nafria
EditorialSpringer Science and Business Media Deutschland GmbH
Páginas412-426
Número de páginas15
ISBN (versión impresa)9783031488573
DOI
EstadoPublicada - 2024
Evento3rd International Conference on Advanced Research in Technologies, Information, Innovation and Sustainability, ARTIIS 2023 - Madrid, Espana
Duración: 18 oct. 202320 oct. 2023

Serie de la publicación

NombreCommunications in Computer and Information Science
Volumen1935 CCIS
ISSN (versión impresa)1865-0929
ISSN (versión digital)1865-0937

Conferencia

Conferencia3rd International Conference on Advanced Research in Technologies, Information, Innovation and Sustainability, ARTIIS 2023
País/TerritorioEspana
CiudadMadrid
Período18/10/2320/10/23

Áreas temáticas de ASJC Scopus

  • Ciencia de la Computación General
  • Matemáticas General
  • Ingeniería de control y sistemas

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