基于模糊逻辑的ROS中间件移动机器人经典行为设计

2014 IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA) Proceedings Pub Date : 2014-06-23 DOI:10.1109/INISTA.2014.6873613

Veli Bayar, Bora Akar, Uğur Yayan, H. Yavuz, A. Yazıcı

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引用次数: 11

摘要

自动驾驶移动车辆在许多应用中用于完成特殊任务。这些任务包括避障、到达目标和/或跟踪。此类车辆包括使用人工智能来协助车辆操作员。模糊逻辑可以用于自动驾驶汽车的设计，以改进经典的控制机制。由于传感器补偿误差或计算成本，传统的机器人控制/决策机制可能会给出不完美的结果。这些缺点可以通过使用组合模糊推理来消除。在本研究中，我们对智能轮椅移动机器人ATEKS进行了改进，引入了三个模糊推理系统来实现目标到达和避障，并引入了一个控制器来进行组合行为选择。所设计的模糊控制系统已在Ubuntu 12.04操作系统下的机器人操作系统(ROS)上实现，并在Gazebo仿真平台上进行了测试。仿真结果验证了ATEKS的忠实行为输出。

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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.

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2014 IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA) Proceedings

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