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Geo-Navigation for a Mobile Robot and Obstacle Avoidance Using Fuzzy Controllers

  • Oscar Montiel
  • Roberto Sepúlveda
  • Ignacio Murcio
  • Ulises Orozco-Rosas
Chapter
Part of the Studies in Computational Intelligence book series (SCI, volume 547)

Abstract

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.

Keywords

Fuzzy controllers Differential mobile robot Geo-navigation Geographical coordinates GPS 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Oscar Montiel
    • 1
  • Roberto Sepúlveda
    • 1
  • Ignacio Murcio
    • 1
  • Ulises Orozco-Rosas
    • 1
  1. 1.Instituto Politécnico NacionalCentro de Investigación y Desarrollo de Tecnología Digital (CITEDI-IPN)Mesa de Otay, TijuanaMéxico

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