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Authors: Farid García and Matías Alvarado

Affiliation: Centro de Investigación y de Estudios Avanzados-IPN, Mexico

ISBN: 978-989-8425-00-3

Keyword(s): Autonomous Navigation, Roughness Recognition, Velocity Updating, Wheeled-Robots.

Abstract: For navigation on outdoor surfaces, usually having different kind of roughness and soft irregularities, this paper proposal is that a wheeled robot combines the gradient method for path planning, alongside it adjusts velocity based on a multi-layer fuzzy neural network; the network integrates information about the roughness and the soft slopes of the terrain to compute the navigation velocity. The implementation is simple and computationally low-cost. The experimental tests show the advantage in the performance of the robot by varying the velocity depending on the terrain features.

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Paper citation in several formats:
García F.; Alvarado M. and (2010). WHEELED-ROBOT NAVIGATION WITH VELOCITY UPDATING ON ROUGH TERRAINS.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: IVC & ITS, (ICINCO 2010) ISBN 978-989-8425-00-3, pages 277-284. DOI: 10.5220/0003023402770284

@conference{ivc & its10,
author={Farid García and Matías Alvarado},
title={WHEELED-ROBOT NAVIGATION WITH VELOCITY UPDATING ON ROUGH TERRAINS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: IVC & ITS, (ICINCO 2010)},
year={2010},
pages={277-284},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003023402770284},
isbn={978-989-8425-00-3},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: IVC & ITS, (ICINCO 2010)
TI - WHEELED-ROBOT NAVIGATION WITH VELOCITY UPDATING ON ROUGH TERRAINS
SN - 978-989-8425-00-3
AU - García, F.
AU - Alvarado, M.
PY - 2010
SP - 277
EP - 284
DO - 10.5220/0003023402770284

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