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AUTÔNOMA NA AGRICULTURA
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Abstract— The employment and incorporation of new technologies in the agriculture field allows a new
meaning to productivity and efficiency. Among its various pillars, autonomous robotics promotes improvements
in production, through increased safety in the coexistence between robots and humans, in the execution of various
activities. This work presents the use of a low cost prototype controlled by two Fuzzy techniques.The proposed
model allows representing the dynamic behaviour of a mobile robot in presence of changes in the environment.
A Hierarchical Weighted Fuzzy Logic Controller composes the second navigation system. Simulation results are
presented allowing a comparison among both systems and showing the ability of the mobile robot to navigate
among obstacles in different scenarios (navigation environment).
Keywords— Fuzzy Cognitive Maps, Autonomous Navigation Embedded, Intelligent dynamic decision systems
Palavras-chave— Mapas Cognitivos Fuzzy; Navegação Autônoma Embarcada; Sistemas inteligentes de deci-
são dinâmica
0 0 0.8 −0.8
0 0 1 1
wHD−F CM 1 = (3)
0 0 0 0
0 0 0 0
0 0 0 1 −1
0 0 0 0.15 0.15
wHD−F CM 2 = 0 0 0 −0.85 1
(4)
0 0 0 0 0
0 0 0 0 0