Collaborative Fuzzy Controlled Obstacle Avoidance in a Vibration-Driven Mobile Robot
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abstract
Special care must be taken when considering robots designed to operate collaboratively, such as a swarm, to prevent these agents from being damaged due to unwanted collisions. This work proposes integrating techniques used to move robots, using the Robot Operating System (ROS) and Python’s Scikit-Fuzzy module. Thus, this work developed a fuzzy-controlled collaborative obstacle avoidance system for a type of robot whose dynamics are based on motors’ vibration. Thus, these robots were designed to participate in a swarm, and the collision must be avoided. In the search for navigation stability, optimal values were sought for the engines’ pulse width modulation (PWM).
The authors thank the Coordination for the Improvement of
Higher Level People (CAPES), National Council of Scientific and Technological Development (CNPq), and the Brazilian Ministry of Science, Technology, Innovation and
Communication (MCTIC).
