This paper presents the development of a fuzzy logic-based auxiliary navigation system for a Medium-Sized Hybrid Environmental Robot. The electronic project and the navigation system programming are also presented. The system’s behaviour is evaluated against the robot’s main navigation system.
Keywords:
Fuzzy logic; Autonomous robotics; Navigation; Control
| Tempo (Seg) | Consumo de concorrente (mA) | Corrente X tempo (mA/h) | Custo Computacional (%) | Dados na Rede (%) | |||||
|---|---|---|---|---|---|---|---|---|---|
| SAN | SPN | SAN | SPN | SAN | SPN | SAN | SPN | SAN | SPN |
| 1:43 | 1:32 | 6468 | 10415 | 185,05 | 266,16 | 51% CR | 76% CE, 65% CR | 12,8% | 76% |
| 2:04 | 1:30 | 6820 | 10115 | 234,91 | 252,87 | 48% CR | 81% CE, 67% CR | 12,5% | 82% |
| 2:07 | 1:28 | 7430 | 10815 | 262,11 | 225,31 | 49% CR | 80% CE, 67% CR | 13% | 82% |
| 1:27 | 1:15 | 7115 | 10085 | 171,94 | 210,1 | 52% CR | 78% CE, 65% CR | 11,6% | 86% |
| 2:10 | 1:10 | 6680 | 10225 | 241,22 | 198,81 | 51% CR | 90% CE, 64% CR | 14,3% | 78% |
| 1:03 | 55 | 6955 | 10180 | 121,71 | 155,52 | 51% CR | 83% CE, 63% CR | 12,8% | 80% |
| 1:08 | 1:00 | 6200 | 9980 | 117,11 | 166,33 | 46% CR | 77% CE, 66% CR | 11,9% | 85% |
| - | 52 | - | 10345 | - | 149,42 | - | 86% CE, 73% CR | - | 82% |
| 1:35 | 1:12 | 7050 | 10280 | 186,04 | 205,6 | 50% CR | 82% CE, 64% CR | 12,7% | 78% |
| 1:48 | 1:10 | 6650 | 9720 | 199,5 | 189 | 47% CR | 84% CE, 64% CR | 12,5% | 75% |
