Fuzzy logic based control system implementation in ROS middleware

Author

Bayar, Veli ; Akar, Banu ; Yayan, Ugur ; Yavuz, H.S. ; Yazici, Adnan

Author_Institution

Elektrik - Elektron. Muhendisligi Bolumu, Eskisehir Osmangazi Univ., Eskişehir, Turkey

fYear

2014

fDate

23-25 April 2014

Firstpage

614

Lastpage

617

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.

Keywords

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; Collision avoidance; Conferences; Fuzzy logic; Mathematical model; Mobile robots; Robot sensing systems; Fuzzy Control; Gazebo; Goal Reaching; Intelligent Wheelchair; Localization Systems; Mobile Robots; Obstacle Avoidance; ROS;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing and Communications Applications Conference (SIU), 2014 22nd

Conference_Location

Trabzon

Type

conf

DOI

10.1109/SIU.2014.6830304

Filename

6830304