@inproceedings{b6fb93a022f14800a57c3b817f58a773,
title = "Fuzzy control system navigation using priority areas",
abstract = "This paper presents an improvement for the software implementation (MOFS) of a user adaptive fuzzy control system for autonomous navigation of mobile robots in unknown environments. This improvement consists of a priority areas definition where the environment is measured by a PLS laser sensor, in order to get a reduction in the number of fuzzy rules and also in the computational cost, and hence obtaining improvements in the trajectory. This system has been tested in a pioneer mobile robot and on a robotic wheelchair, odometry sensors are used to localize the 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. This approach improves the way to measure the danger of the obstacles, the way to follow the walls of corridors and the detection of doors. These improvements reduce the zigzag effect of the previous system by making the trajectories significantly straighter and hence reducing the time to reach the goal position.",
keywords = "Adaptive control, Autonomous navigation, Collision avoidance, Fuzzy control, Fuzzy logic, Mobile robots, Priority areas, Reactive navigation",
author = "Olivares, \{M. A.\} and P. Campoy and C. Martinez and Correa, \{J. F.\} and I. Mondrag{\'o}n",
year = "2008",
doi = "10.1142/9789812799470\_0162",
language = "English",
isbn = "981279946X",
series = "World Scientific Proceedings Series on Computer Engineering and Information Science 1; Computational Intelligence in Decision and Control - Proceedings of the 8th International FLINS Conference",
publisher = "World Scientific Publishing Co. Pte Ltd",
pages = "987--995",
booktitle = "World Scientific Proceedings Series on Computer Engineering and Information Science 1; Computational Intelligence in Decision and Control - Proceedings of the 8th International FLINS Conference",
address = "Singapore",
note = "Computational Intelligence in Decision and Control - 8th International FLINS Conference ; Conference date: 21-09-2008 Through 24-09-2008",
}