Sensors 2009, 9(12), 10023-10043; doi:10.3390/s91210023
Article

A Neuro-Fuzzy System for Extracting Environment Features Based on Ultrasonic Sensors

* email, email, email and email
Received: 4 November 2009; in revised form: 23 November 2009 / Accepted: 30 November 2009 / Published: 9 December 2009
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: In this paper, a method to extract features of the environment based on ultrasonic sensors is presented. A 3D model of a set of sonar systems and a workplace has been developed. The target of this approach is to extract in a short time, while the vehicle is moving, features of the environment. Particularly, the approach shown in this paper has been focused on determining walls and corners, which are very common environment features. In order to prove the viability of the devised approach, a 3D simulated environment has been built. A Neuro-Fuzzy strategy has been used in order to extract environment features from this simulated model. Several trials have been carried out, obtaining satisfactory results in this context. After that, some experimental tests have been conducted using a real vehicle with a set of sonar systems. The obtained results reveal the satisfactory generalization properties of the approach in this case.
Keywords: neural networks; fuzzy systems; neuro-fuzzy; ultrasonic sensing; autonomous robots
PDF Full-text Download PDF Full-Text [2602 KB, uploaded 21 June 2014 02:52 CEST]

Export to BibTeX |
EndNote


MDPI and ACS Style

Marichal, G.N.; Hernández, A.; Acosta, L.; González, E.J. A Neuro-Fuzzy System for Extracting Environment Features Based on Ultrasonic Sensors. Sensors 2009, 9, 10023-10043.

AMA Style

Marichal GN, Hernández A, Acosta L, González EJ. A Neuro-Fuzzy System for Extracting Environment Features Based on Ultrasonic Sensors. Sensors. 2009; 9(12):10023-10043.

Chicago/Turabian Style

Marichal, Graciliano Nicolás; Hernández, Angela; Acosta, Leopoldo; González, Evelio José. 2009. "A Neuro-Fuzzy System for Extracting Environment Features Based on Ultrasonic Sensors." Sensors 9, no. 12: 10023-10043.

Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert