Fuzzy control of a mobile robot for obstacle avoidance
Information Sciences: an International Journal - Application of Fuzzy Set Theory
Reliable goal-directed reactive control of autonomous mobile robots
Reliable goal-directed reactive control of autonomous mobile robots
An introduction to fuzzy control
An introduction to fuzzy control
Essentials of fuzzy modeling and control
Essentials of fuzzy modeling and control
Uncertain robot environment modelling using fuzzy numbers
Fuzzy Sets and Systems
A multivalued logic approach to integrating planning and control
Artificial Intelligence - Special volume on planning and scheduling
A fuzzy approach to build sonar maps for mobile robots
Computers in Industry
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
An Behavior-based Robotics
Robot Motion Planning
Sonar feature based exploration
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Real-time map building and navigation for autonomous robots inunknown environments
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Journal of Intelligent and Robotic Systems
A Hybrid Intelligent System for Pipeline Robot Navigation in Unknown Environment
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Approximate robotic mapping from sonar data by modeling perceptions with antonyms
Information Sciences: an International Journal
Information Sciences: an International Journal
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The way of understanding the role of perception along the intelligent robotic systems has evolved greatly since classic approaches to the reactive behavior-based approaches. Classic approaches tried to model the environment using a high level of accuracy while in reactive systems usually the perception is related to the actions that the robot needs to undertake so that such complex models are not generally necessary. Regarding hybrid approaches is likewise important to understand the role that has been assigned to the perception in order to assure the success of the system. In this work a new perceptual model based on fuzzy logic is proposed to be used in a hybrid deliberative-reactive architecture. This perceptual model deals with the uncertainty and vagueness underlying to the ultrasound sensor data, it is useful to carry out the data fusion from different sensors and it allows us to establish various levels of interpretation in the sensor data. Furthermore, using this perceptual model an approximate world model can be built so that the robot can plan its motions for navigating in an office-like environment. Then the navigation is accomplished using the hybrid deliberative-reactive architecture and taking into account the perceptual model to represent the robot's beliefs about the world. Experiments in simulation and in an real office-like environment are shown for validating the perceptual model integrated into the navigation architecture.