Fuzzy System for Obstacle Detection and Avoidance for Mobile Robot

被引：1

作者：

Andrade, Alexsandra Oliveira ^{[1
]}

Almeida Silva, Tharcio Thalles ^{[1
]}

Gomes, Iago Pacheco ^{[2
]}

Goncalves, Luiz Marcos G.

机构：

[1] Univ Estadual Sudoeste Bahia, Dept Exact & Technol Sci, Vitoria da Conquista, BA, Brazil

[2] Univ Sao Paulo, Mobile Robot Lab, Sao Carlos, SP, Brazil

来源：

2019 LATIN AMERICAN ROBOTICS SYMPOSIUM, 2019 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR) AND 2019 WORKSHOP ON ROBOTICS IN EDUCATION (LARS-SBR-WRE 2019) | 2019年

关键词：

obstacle detection; fuzzy logic; mobile robot; robot operating system; stereo camera;

D O I：

10.1109/LARS-SBR-WRE48964.2019.00039

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We propose a system for detection and avoidance of obstacles based on the use of fuzzy logic. Basically, data coming from a ZED stereo camera are used for the decision making based on fuzzy predicates. Validation and testing of the algorithms are provided under the ROS (Robot Operating System), which runs together with Gazebo 7. The developed tool is an important step towards solving problems related to the techniques and methods or algorithms that can be used in mobile robots for detection and avoidance of obstacles and other objects on their way. The proposed system proved to be very robust in the tests carried out in the simulated environment.

引用

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页码：180 / 185

页数：6

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