Browsing by Author "Lewin, Gustavo Fontes"
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- Collaborative fuzzy controlled obstacle avoidance in a vibration-driven mobile robotPublication . Lewin, Gustavo Fontes; Fabro, João Alberto; Lima, José; Oliveira, Andre Schneider; Rohrich, Ronnier FratesSpecial 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).