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- W2755367045 abstract "La navegacion en un robot movil es la habilidad para desplazarse de un lugar a otro dentro de un entorno evitando los obstaculos que se presenten. La autonomia de un robot movil se basa en su sistema de navegacion. La aplicacion de tecnicas de Inteligencia Artificial como la logica difusa y el uso de la vision por computadora son dos herramientas empleadas para cumplir esta tarea. En algunos sistemas de navegacion la seguridad y la facilidad de operacion son factores muy importantes. En estos casos, la tolerancia a la incertidumbre de informacion, la reaccion ante objetos imprevistos, y la navegacion mediante giros suaves son argumentos del diseno de estos sistemas. En este articulo se presenta el desarrollo de un sistema de navegacion reactiva difusa que emplea los datos de profundidad del sensor Kinect, algoritmos de vision por computadora, y logica difusa, para generar angulos de giro suave para la navegacion de un robot movil. En pruebas realizadas con la plataforma movil ERA-MOBI se observaron giros suaves con un porcentaje de evasion de obstaculos del 85.7%. Abstract: Navigation on a mobile robot is the ability to move from one place to another within an environment avoiding obstacles that arise. The autonomy of a mobile robot is based on your navigation system. The application of Artificial Intelligence techniques such as fuzzy logic and using computer vision are two tools used to accomplish this task. In some navigation systems the safety and ease of operation are important factors. In these cases, the tolerance for uncertainty information, the reaction to unforeseen objects, and navigation through smooth turn are design arguments of these systems. This article describes the development of a system of fuzzy logic-based reactive navigation using data depth of Kinect sensor, computer vision algorithms, and fuzzy logic, to generate smooth turn angles for navigation of a mobile robot. In tests with the platform ERA- MOBI smooth turns with a percentage of obstacle avoidance of 85.7 % were observed. Keywords: kinect, reactive navigation, fuzzy logic, average depth, mobile robot." @default.
- W2755367045 created "2017-09-25" @default.
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- W2755367045 date "2017-04-25" @default.
- W2755367045 modified "2023-09-23" @default.
- W2755367045 title "Sistema de Navegación Reactiva Difusa para Giros Suaves de Plataformas Móviles Empleando el Kinect - Fuzzy Mobile Reactive Navigation System for Smooth Turns by Using Kinect" @default.
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- W2755367045 doi "https://doi.org/10.32870/recibe.v5i3.66" @default.
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