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Collaborative fuzzy controlled obstacle avoidance in a vibration-driven mobile robot

2023Conference object Restricted access
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dc.contributor.authorLewin, Gustavo Fontes
dc.contributor.authorFabro, João Alberto
dc.contributor.authorLima, José
dc.contributor.authorOliveira, Andre Schneider
dc.contributor.authorRohrich, Ronnier Frates
dc.date.accessioned2023-03-08T10:30:27Z
dc.date.available2023-03-08T10:30:27Z
dc.date.issued2023
dc.description.abstractSpecial 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).pt_PT
dc.description.sponsorshipThe 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).pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationLewin, Gustavo Fontes; Fabro, João Alberto; Lima, José; de Oliveira, André Schneider; Rohrich, Ronnier Frates (2023). Collaborative fuzzy controlled obstacle avoidance in a vibration-driven mobile robot. In 5th Iberian Robotics Conference, ROBOT 2022. Zaragoza. 589, p. 373-384. ISBN 978-3-0312-1064-8pt_PT
dc.identifier.doi10.1007/978-3-031-21065-5_31pt_PT
dc.identifier.isbn978-3-0312-1064-8
dc.identifier.urihttp://hdl.handle.net/10198/27555
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherSpringerpt_PT
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectCollaborative controlpt_PT
dc.subjectFuzzy systempt_PT
dc.subjectObstacle avoidancept_PT
dc.subjectVibration robotpt_PT
dc.titleCollaborative fuzzy controlled obstacle avoidance in a vibration-driven mobile robotpt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceZaragozapt_PT
oaire.citation.endPage384pt_PT
oaire.citation.startPage373pt_PT
oaire.citation.title5th Iberian Robotics Conference, ROBOT 2022pt_PT
oaire.citation.volume589pt_PT
person.familyNameLima
person.givenNameJosé
person.identifierR-000-8GD
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id55851941311
rcaap.rightsrestrictedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublicationd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isAuthorOfPublication.latestForDiscoveryd88c2b2a-efc2-48ef-b1fd-1145475e0055

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