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Collaborative Fuzzy Controlled Obstacle Avoidance in a Vibration-Driven Mobile Robot

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ROBOT2022: Fifth Iberian Robotics Conference (ROBOT 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 589))

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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).

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Acknowledgements

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).

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Authors and Affiliations

  1. Universidade Tecnológica Federal do Paraná (UTFPR), Campus Curitiba, Paraná, 80230-901, Brazil

    Gustavo Fontes Lewin, João Alberto Fabro, André Schneider de Oliveira & Ronnier Frates Rohrich

  2. CeDRI - Research Center in Digitalization and Intelligent Robotics, Instituto Politécnico de Bragança, Campus de Santa Apolónia, Bragança, Portugal

    Jose Lima & Ronnier Frates Rohrich

  3. INESC TEC - INESC Technology and Science, Porto, Portugal

    Jose Lima

Authors
  1. Gustavo Fontes Lewin
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  2. João Alberto Fabro
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  3. Jose Lima
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  4. André Schneider de Oliveira
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  5. Ronnier Frates Rohrich
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Corresponding author

Correspondence to Ronnier Frates Rohrich .

Editor information

Editors and Affiliations

  1. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

  2. Grupo de Robótica, Universidad de León, León, Spain

    Vicente Matellán

  3. GRVC Robotics Lab, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Guillermo Heredia

  4. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  5. Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal

    Lino Marques

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Lewin, G.F., Fabro, J.A., Lima, J., de Oliveira, A.S., Rohrich, R.F. (2023). Collaborative Fuzzy Controlled Obstacle Avoidance in a Vibration-Driven Mobile Robot. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_31

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