A structure for the recognition of geometrical references for mobile robots using fuzzy logic

The geometrical references recognition is a basic task to the navigation of mobile robots due to the necessity of calibrating the position of the vehicle many times (it does not have a fix reference) as well as the trajectory planning. Usually, ultrasonic sensors are used to collect information about the environment surrounding the robot. The high grade of uncertainty associated to this information justifies the use of fuzzy logic to carry out the geometrical references recognition task. Following this line, this work develops a structure to allow object recognition, which is based on parameters of the echo signal reflected or diffracted from a target