Title :
A simulation environment to test fuzzy navigation strategies based on perceptions
Author :
García-Pérez, Lía ; Garcia-Alegre, María C.
Abstract :
Current work deals with the design and development of a virtual environment to test perception based navigation strategies for a non-holonomic real robot. Physical sensors onboard the robot are described with their main characteristics as virtual perceptual agents. Real environments are represented as polygons to closely mimic geometric shape properties of obstacles and are recorded in a data structure as a virtual world. Elementary and ever complex navigational behaviors such as, Advance, AvoidObstacle and GoToPoint are designed and implemented through fuzzy rule bases to handle the perceptual concepts encapsulated by the perceptual Agents. Some examples of the trajectories described by the robot ROJO are displayed to show the robot performance in different simulated environments.
Keywords :
data structures; fuzzy logic; knowledge based systems; programming environments; virtual reality; data structure; fuzzy navigation strategies; fuzzy rule bases; geometric shape properties; nonholonomic real robot; perception based navigation strategies; polygons; robot ROJO; robot performance; simulated environments; simulation environment; virtual environment; virtual perceptual agents; virtual world; Automatic control; Humans; Intelligent sensors; Navigation; Pulse width modulation; Robot sensing systems; Robotics and automation; Sensor phenomena and characterization; Service robots; Testing;
Conference_Titel :
Fuzzy Systems, 2001. The 10th IEEE International Conference on
Print_ISBN :
0-7803-7293-X
DOI :
10.1109/FUZZ.2001.1009023
