Esquema de control reactivo basado en comportamientos difusos para la navegación de un robot móvil en entornos interiores

Orlando Zapata-Cortes, Gustavo Alonso Acosta-Amaya, Jovani Alberto Jiménez-Builes

Resumen


Este artículo presenta el diseño y la implementación de un esquema de control basado en comportamientos. La construcción del conjunto de comportamientos se basa en el uso de la lógica difusa como medio para materializar el conocimiento de los diseñadores a los comportamientos. El set de comportamiento fue constituido por el seguimiento de pared derecha e izquierda y la evasión de obstáculos. Estos tres comportamientos fueron programadas y coordinadas por un esquema de subsunción o anulación de comportamientos. Las simulaciones de los comportamientos y el diseño del esquema de coordinación fueron probados con experimentos reales utilizando una plataforma robótica móvil. Por último, se presentan los resultados obtenidos donde las acciones de control son ejecutadas por el sistema robótico logrando una navegación segura.

This paper presents the design and implementation of a behavior-based control scheme. The construction of the set of behaviors is based on the use of fuzzy logic as a means for materializing the designer’s knowledge into the behaviors. The behavior set was established by left and right wall following and obstacle avoidance. These three behaviors were programmed and coordinated by a subsumption architecture or behavioral inhibition. Behavior simulations and coordination scheme design were tested by means of real experiments using a mobile robotic platform. Finally, the results are presented, where the control actions are executed by the robotic system achieving a secure navigation.



Palabras clave


diseño de control difuso; arquitectura de control basada en comportamientos; robótica móvil; evasión de obstáculos frontales; comportamiento de seguimiento de paredes; inteligencia artificial

Referencias


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DOI: https://doi.org/10.33571/rpolitec.v16n31a1

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Revista Politécnica 
ISSN: 1900-2351
ISSN: 2256-5353 (En línea)

DOI:  10.33571/rpolitec

Editada por: Politécnico Colombiano Jaime Isaza Cadavid