Paper Info
Title
Fuzzy logic based control system implementation in ROS middleware
Abstract
Autonomous mobile vehicles are used in many areas. These vehicles are supposed to realize correct robotic behaviors in respect of the application type. Classical robot control/decision mechanisms can give imperfect results due to sensor compensation errors or calculation costs. Fuzzy logic, in some cases, can be used to overcome these problems. In this study, we have designed a robot control system which consists of two fuzzy inference systems to realize goal reaching and obstacle avoidance behaviors. The system has been implemented on Robot Operating System (ROS) which runs on Ubuntu 12.04 OS. We have tested the system under Gazebo simulation platform on the Akıllı Tekerlekli Sandalye (ATEKS) model and obtained satisfactory results.
Year
DOI
Venue
2014
10.1109/SIU.2014.6830304
Signal Processing and Communications Applications Conference
Keywords
Field
DocType
collision avoidance,control engineering computing,fuzzy control,fuzzy reasoning,intelligent robots,middleware,mobile robots,operating systems (computers),ATEKS model,Akıllı Tekerlekli Sandalye model,Gazebo simulation platform,ROS middleware,Ubuntu 12.04 OS,autonomous mobile vehicle,fuzzy inference systems,fuzzy logic control system,goal reaching,obstacle avoidance,robot control system,robot operating system,robotic behavior,sensor compensation error,Fuzzy Control,Gazebo,Goal Reaching,Intelligent Wheelchair,Localization Systems,Mobile Robots,Obstacle Avoidance,ROS
Middleware,Computer science,Control engineering,Artificial intelligence,Control system,Obstacle avoidance,Computer vision,Robot control,Simulation,Fuzzy logic,Fuzzy inference,Mobile robot,Robot operating system
Conference
ISSN
Citations 
PageRank 
2165-0608
0
0.34
References 
Authors
1
4
Name
Order
Citations
PageRank
Bayar, V.110.71
Gozde Bozdagi Akar212920.15
Yayan, U.340.82
Yavuz, H.S.400.34