Lewin, Gustavo FontesFabro, João AlbertoLima, JoséOliveira, Andre SchneiderRohrich, Ronnier Frates2023-03-082023-03-082023Lewin, 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 978-3-0312-1064-8978-3-0312-1064-8http://hdl.handle.net/10198/27555Special 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).engCollaborative controlFuzzy systemObstacle avoidanceVibration robotconference object10.1007/978-3-031-21065-5_31