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This paper presents a path planner application for mobile robots based on Ant Colony Optimization (ACO). The selection of the optimal path relies in the criterion of a Fuzzy Inference System (FIS), which is adjusted using a Simple Tuning Algorithm (STA). The path planner can be executed in Mode I and Mode II. The first mode only works in the virtual environment of the interface, while Mode II embraces the wireless communication with a real robot; once the ACO algorithm finds the best route, the coordinates are sent to a mobile robot via Bluetooth communication; if the robot senses a new obstacle, the computer is notified and does a rerouting routine in order to avoid the obstacle and reach the goal. In other words, the application supports dynamic search spaces.
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Tom
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5--11
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Bibliogr. 21 poz., rys.
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- CITEDI-IPN, Ave. del Parque 1310 Mesa de Otay, Tijuana B.C 22510, mporta@citedi.mx
Bibliografia
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bwmeta1.element.baztech-article-BUJ6-0018-0046