Design of Collision Avoidance System for a Chicken Robot Based on Fuzzy Relation Equations

Design and study of mixed animal-robot societies are the fields of scientific exploration that can bring new opportunities for research into the group behavior of social animals. Our goal is to develop a Chicken Robot – an autonomous mobile robot, socially acceptable by a group of chicks and able to interact with them using appropriate communication channels. One of the basic requirements to such a robot is the safety of its motion with respect to the chicks, so it has to be endowed with an efficient real-time collision avoidance system. In this paper we present a fuzzy obstacle avoidance system that was designed for the Chicken Robot using the theory of fuzzy relation equations. This approach allows to easily check a consistency of a used rule base and provides a more systematic approach to design of fuzzy control systems comparing with the classical techniques. The experimental results demonstrate that a mobile robot equipped with the presented system is able to successfully avoid obstacles and safely navigate on an experimental arena.

Published in:
Proceedings of the 2009 IEEE International Conference on Fuzzy Systems, 1851-1856
Presented at:
2009 IEEE International Conference on Fuzzy Systems, Jeju, Korea, August 20-24, 2009
IEEE Press

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 Record created 2009-06-20, last modified 2020-10-24

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