Fuzzy Logic Based Control System Implementation in ROS Middleware

被引：0
|
作者：
Bayar, Veli [1 ]
Akar, Bora [1 ]
Yayan, Ugur [1 ]
Yavuz, H. Serhan [1 ]
Yazici, Ahmet [2 ]
机构：
[1] Eskisehir Osmangazi Univ, Elekt Elekt Muhendisligi Bolumu, Eskisehir, Turkey
[2] Eskisehir Osmangazi Univ, Bilgisayar Muhendisligi Bolumu, Eskisehir, Turkey
来源：
2014 22ND SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU) | 2014年
关键词：
Intelligent Wheelchair; Fuzzy Control; ROS; Goal Reaching; Obstacle Avoidance; Gazebo; Localization Systems; Mobile Robots;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
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 Aka Tekerlekli Sandalye (ATEKS) model and obtained satisfactory results.
引用
收藏
页码：614 / 617
页数：4
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