NDLI: Fuzzy Logic User Adaptive Navigation Control System For Mobile Robots In Unknown Environments

Content Provider	IEEE Xplore Digital Library
Author	Mendez, M.A.O. Madrigal, J.A.F.
Copyright Year	2007
Description	Author affiliation: Univ. Politecnica de Madrid, Madrid (Mendez, M.A.O.)
Abstract	This paper presents a software implementation of a user adaptive fuzzy control system for autonomous navigation in mobile robots for unknown environments. This system has been tested in a pioneer mobile robot and on a robotic wheelchair, fitted with PLS laser sensor to detect the obstacles and odometry sensors for localization of 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. Our approach learn from user behaviors in the way it can resolve different situations against obstacles or walls.We propose and implement two updates for the fuzzy system. For the implementation of the learning algorithm we use a weighting scheme giving a value for each fuzzy-rule, this value is based on the synapse-weight idea and represent the contribution of each rule in the system output. We also create of a more important sector in the definition of the fuzzy-variables, based on a statistics system that measure the uses of all the sets of the variables in order to contract the size of the rule-base.
Starting Page	1
Ending Page	6
File Size	4202955
Page Count	6
File Format	PDF
ISBN	9781424408290
DOI	10.1109/WISP.2007.4447633
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-03
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	collision avoidance Adaptive systems Navigation autonomous navigation Control systems adaptive control Sensor systems mobile robots Mobile robots Adaptive control Fuzzy logic fuzzy control Programmable control Fuzzy control reactive navigation Robot sensing systems
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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