Fuzzy logic based design of classical behaviors for mobile robots in ROS middleware

Autonomous mobile vehicles are used in many applications to realize special tasks. These tasks involve obstacle avoidance, target reaching and/or tracking. Such vehicles include the use of artificial intelligence to assist the vehicle´s operator. Fuzzy logic can be used in the design of an autonomous vehicle to improve the classical control mechanisms. Classical robot control/decision mechanisms can give imperfect results due to sensor compensation errors or calculation costs. These drawbacks can be eliminated by using a combined fuzzy inference. In this study, we have modified the mobile robot ATEKS, which is an intelligent wheelchair, by introducing three fuzzy inference systems to realize goal reaching, obstacle avoidance and a controller for combined behavior selection. Designed fuzzy control system has been implemented on Robot Operating System (ROS) under Ubuntu 12.04 operating system and tested under Gazebo simulation platform. Simulation results verified faithful behavior outputs of ATEKS.