INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
A new architecture for controlling the navigation of a mobile robot: fusion of the outputs of distinct controllers
Autor/es:
EDUARDO FREIRE; TEODIANO FREIRE BASTOS; MARIO SARCINELLI; RICARDO CARELLI; OSCAR NASISI
Lugar:
Barcelona, España
Reunión:
Congreso; 15 th. World IFAC Congress; 2002
Institución organizadora:
International Federation of Automatic Control
Resumen:
A new architecture for controlling the navigation of a mobile robot based on the fusion of the output of several controllers is proposed, which has presented very good results, as exemplified. The decentralised information filter realises the fusion of the outputs of the controllers. The output of each controller is connected to a local filter, and has a covariance associated to it. The lower this covariance is, the bigger is the influence of the corresponding controller on the fused output. A fuzzy logic-based approach is also proposed to determine such covariance.
