Decision making for a delivery robot through a fuzzy system

Authors

  • Murillo Rehder Batista Instituto de Ciências Matemáticas e de Computação - USP São Carlos
  • Roseli Aparecida Francelin Romero Instituto de Ciências Matemáticas e de Computação - USP São Carlos

DOI:

https://doi.org/10.22456/2175-2745.26296

Abstract

One of the main objectives of robotic researches has been the use of autonomous agents to make ”mundane” tasks. A typical task common in literature is fetching a document from an initial point local and deliver to a specified destination. In this work, a fuzzy system has been developed to manage a number of requests that a robot has to deliver, which are requested in real time. This system uses a set of fuzzy rules to define the priority of each request based on conditions such as the time limit to take the document from its source or the score acquired from a successful delivery. A modification of A* algorithm to plan paths and the potential field technique to manage navigation are used to guide the robot in the environment. Three different sets of fuzzy rules have been tested in order to compare their results with the known algorithm, first-in first-out, to attend the requests. The Player/Stage simulator has been used to make the tests. The results show that such approach is effective, obtaining better results on criteria which have been considered of greater importance for each set of rules.

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Published

2013-04-13

How to Cite

Batista, M. R., & Romero, R. A. F. (2013). Decision making for a delivery robot through a fuzzy system. Revista De Informática Teórica E Aplicada, 20(2), 13–31. https://doi.org/10.22456/2175-2745.26296

Issue

Section

Regular Papers