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

页码：180 / 185

页数：6

共 50 条

[1] An Obstacle Detection and Avoidance System for Mobile Robot with a Laser Radar
Gao, Mingyu
Tang, Jindi
Yang, Yuxiang
He, Zhiwei
Zeng, Yu
PROCEEDINGS OF THE 2019 IEEE 16TH INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC 2019), 2019, : 63 - 68
[2] Fuzzy Logic System Based Obstacle Avoidance for a Mobile Robot
Jin, Sheng
Choi, Byung-Jae
CONTROL AND AUTOMATION, AND ENERGY SYSTEM ENGINEERING, 2011, 256 : 1 - 6
[3] Application of Fuzzy Logic Controller for Obstacle Detection and Avoidance on Real Autonomous Mobile Robot
Berisha, Jakup
Shala, Ahmet
Bajrami, Xhevahir
Likaj, Rame
2016 5TH MEDITERRANEAN CONFERENCE ON EMBEDDED COMPUTING (MECO), 2016, : 200 - 205
[4] Obstacle Avoidance of Mobile Robot using Fuzzy Logic and Hybrid Obstacle Avoidance Algorithm
Singh, R.
Bera, T. K.
2ND INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHANTRONICS, 2019, 517
[5] Fuzzy Logic Sensor Fusion for Obstacle Avoidance Mobile Robot
Sukane, Aggrey Shit
Cheruiyot, Wilson
Otieno, Calvin
Mvurya, Mgala
2018 IST-AFRICA WEEK CONFERENCE (IST-AFRICA), 2018,
[6] Obstacle avoidance for a mobile robot:: A neuro-fuzzy approach
Marichal, GN
Acosta, L
Moreno, L
Méndez, JA
Rodrigo, JJ
Sigut, M
FUZZY SETS AND SYSTEMS, 2001, 124 (02) : 171 - 179
[7] Fuzzy Obstacle Avoidance Control of A Two-Wheeled Mobile Robot
Chiu, Chian-Song
Chiang, Teng-Shung
Ye, Yu-Ting
2015 INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS), 2015, : 1 - 6
[8] Fuzzy Logic Obstacle Avoidance Controller for a Mobile Robot using LiDAR
Hanana, Sana
Krichen, Najla
Masmoudi, Mohamed Slim
Masmoudi, Mohamed
2024 IEEE 7TH INTERNATIONAL CONFERENCE ON ADVANCED TECHNOLOGIES, SIGNAL AND IMAGE PROCESSING, ATSIP 2024, 2024, : 387 - 390
[9] Mobile Robot Obstacle Detection and Avoidance with NAV-YOLO
Adiuku, Ndidiamaka
Avdelidis, Nicolas P.
Tang, Gilbert
Plastropoulos, Angelos
Diallo, Yanis
INTERNATIONAL JOURNAL OF MECHANICAL ENGINEERING AND ROBOTICS RESEARCH, 2024, 13 (02): : 219 - 226
[10] Design of adaptive network-based fuzzy inference system for obstacle avoidance of mobile robot
Li, Xi
Choi, Byung-Jae
Advances in Intelligent Systems and Computing, 2014, 269 : 83 - 90

← 1 2 3 4 5 →