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Mobile Robotic Navigation System With Improved Autonomy Under Diverse Scenarios

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Advances in Computational Intelligence (MICAI 2020)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12469))

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Abstract

Mobile robots integrate a combination of physical robotic elements for locomotion and artificial intelligence algorithms to move and explore the environment. They have the ability to react and make decisions based on the perception they receive from the environment to fulfill the assigned navigation tasks. A crucial issue in mobile robots is to address the energy consumption in the robot design strategy for prolonged autonomous operation. Therefore, the battery charge level is an input variable that is commonly monitored and evaluated at all times, in this type of robots, in order to influence the decision-making with the least user intervention, during the navigation phase. Hence, the robot is capable to complete its tasks successfully. To achieve this, a navigation approach based on a fuzzy Q-Learning architecture for decision-making in combination with a module of artificial potential fields for path planning is introduced. The exhibited behavior of a six-legged robot obtained under this approach, demonstrates the robot’s ability of moving from a starting point to a destination point, considering the need to go to the charging station or to remain static, if necessary.

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Acknowledgments

We appreciate the support to develop this project by the Instituto Politécnico Nacional (IPN) and Secretaría de Investigación y Posgrado (SIP-IPN) under the projects SIP20180943, SIP20190007, SIP20195835, SIP20200630, SIP20201397 and SIP20200569, also to Consejo Nacional de Ciencia y Tecnología (CONACYT-México).

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Authors and Affiliations

  1. Instituto Politécnico Nacional, Centro de Investigación en Computación, Av. Juan de Dios Bátiz Esq. Miguel Othón de Mendizábal S/N, Nueva Industrial Vallejo, 07738, Gustavo A. Madero, Mexico City, Mexico

    Elizabeth López-Lozada, Elsa Rubio-Espino, Juan-Humberto Sossa-Azuela & Víctor H. Ponce-Ponce

Authors
  1. Elizabeth López-Lozada
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  2. Elsa Rubio-Espino
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  3. Juan-Humberto Sossa-Azuela
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  4. Víctor H. Ponce-Ponce
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Corresponding author

Correspondence to Elizabeth López-Lozada .

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Editors and Affiliations

  1. Facultad de Ingeniería, Universidad Panamericana, Mexico City, Mexico

    Lourdes Martínez-Villaseñor

  2. Universidad Autónoma Metropolitana, Mexico City, Mexico

    Oscar Herrera-Alcántara

  3. Facultad de Ingeniería, Universidad Panamericana, Mexico City, Mexico

    Hiram Ponce

  4. Universidad Autónoma del Estado de Hidalgo, Hidalgo, Mexico

    Félix A. Castro-Espinoza

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López-Lozada, E., Rubio-Espino, E., Sossa-Azuela, JH., Ponce-Ponce, V.H. (2020). Mobile Robotic Navigation System With Improved Autonomy Under Diverse Scenarios. In: Martínez-Villaseñor, L., Herrera-Alcántara, O., Ponce, H., Castro-Espinoza, F.A. (eds) Advances in Computational Intelligence. MICAI 2020. Lecture Notes in Computer Science(), vol 12469. Springer, Cham. https://doi.org/10.1007/978-3-030-60887-3_40

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  • DOI: https://doi.org/10.1007/978-3-030-60887-3_40

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  • Online ISBN: 978-3-030-60887-3

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