Knowledge-based intelligent diagnosis of anomalous motion of ground robots

This paper describes a robotic application in which some fuzzy techniques have been used to analyze motion problems in a mobile robot. The robot is equipped with ultrasound sensors used for obstacle detection, but, in some cases, small obstacles are out of the range of the sensors and can be dragged by the robot without being detected. The effect of the external obstacle on the robot motion variables can be established by means of linguistic rules, making the use of fuzzy techniques. Using other variables such as measured velocity, undershoots of that velocity, or the derivative of the battery voltage, a fuzzy system is able to diagnose on robot motion problems