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This book presents the results obtained in the framework of several projects both at a national and international level in the areas of intelligent mobile robotics navigation, fuzzy control and stability analysis. Autonomous mobile robot navigation in uncertain and dynamic environments demands adaptation and perception capabilities. Reactive control strategies imply a strong dependency...
Stability analysis of fuzzy systems is a very important research .eld in fuzzy systems practically from the pioneer work of E.H. Mamdani on fuzzy control applications [105, 106]. Since then, even without having a general stability analysis methodology, fuzzy control systems have been successfully applied to industrial plants dealing with highly nonlinear processes, which in fact makes their...
The qualitative theory of nonlinear dynamic systems and the bifurcation theory are valuable tools to analyze and understand the behavior of nonlinear systems. The aim of this chapter is to illustrate by means of simple examples the behavioral richness of nonlinear systems as well as to introduce some basic bifurcation phenomena [44]. This will also help to understand, and to analyze, the...
This chapter focuses on the intelligent control of vehicles with nonholonomic constraints. The proposed method is based on the computation of a fuzzy perception of the environment, dealing with the uncertainties and imprecisions from the sensorial system and taking into account the nonholonomic and dynamic constraints of the vehicle. This fuzzy perception is used, both in the design of each...
The classical mobile robot control scheme is based on planning using environment models [95]. This approach is well suited to situations where the mobile robot has (or is able to build up) an accurate enough representation of the environment and also an accurate position estimation. Then, high accuracy in path tracking can be achieved. On the other hand, as shown in Chapter 4, reactive...
This chapter concentrates on practical maneuvering of electrical vehicles [68, 46]. Namely, autonomous parking of vehicles with or without trailer is discussed, including planning and the use of fuzzy systems to improve the practical applicability of the methods. The autonomous vehicles used to illustrate the proposed methods, namely ROMEO-3R and ROMEO-4R, have been developed at the University...
The methods presented in this book have been implemented in the autonomous vehicles ROMEO-3R (see Fig.A.1) and ROMEO-4R (see Fig.A.2). These electrically powered vehicles have been designed and built at the University of Seville for the experimentation of intelligent components and autonomous navigation strategies [130].
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