Sistema de Navegación Reactiva Difusa para Giros Suaves de Plataformas Móviles Empleando el Kinect

Navigation on a mobile robot is the ability to move from one place to another within an environment avoiding obstacles that arise. The autonomy of a mobile robot is based on your navigation system. The application of Artificial Intelligence techniques such as fuzzy logic and using computer vision are two tools used to accomplish this task. In some navigation systems the safety and ease of operation are important factors. In these cases, the tolerance for uncertainty information, the reaction to unforeseen objects, and navigation through smooth turn are design arguments of these systems. This article describes the development of a system of fuzzy logic-based reactive navigation using data depth of Kinect sensor, computer vision algorithms, and fuzzy logic, to generate smooth turn angles for navigation of a mobile robot. In tests with the platform ERA- MOBI smooth turns with a percentage of obstacle avoidance of 85.7 % were observed.