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Designing Fuzzy Logic Controllers for ROS-Based Multirotors

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Robot Operating System (ROS)

Part of the book series: Studies in Computational Intelligence ((SCI,volume 707))

Abstract

This chapter presents a tutorial on using an open-source ROS package for implementing control systems based on Fuzzy Logic. Such a package has been created to facilitate the development of fuzzy control systems along with ROS technology and infrastructure. A step-by-step tutorial discusses how to develop a set of distributed and interconnected fuzzy controllers using the proposed ROS package. A fuzzy control system that controls the movement of an unmanned multirotor (specifically a hexacopter) is presented as case study. The behavior of this control system is demonstrated by means of a commercial robotics simulation environment named V-REP. One scenario is used to illustrate the fuzzy control system steering the movement of a virtual hexacopter carrying an attached loose payload, i.e. such a loose payload forms a pendulum. In this case study, one can see the hexacopter flight after receiving commands to fly to distinct positions within the scenario. It is important to highlight that, in order to be able to perform this tutorial, the reader must use ROS Indigo Igloo and V-REP PRO EDU version V3.3.0 both running on Ubuntu 14.04.4 LTS.

The source code and examples discussed in this chapter are available as a catkin package published in [1]

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Notes

  1. 1.

    This chapter does not intend to propose or discuss any concrete round-trip engineering process.

  2. 2.

    Figures 2, 3, 4 and 5 depict the inertial frame at the right-bottom corner of the figures. It is important to note that this inertial frame is used in both V-REP environment and ROS representation.

  3. 3.

    Files and subdirectories created automatically by catkin/make commands are ignored.

  4. 4.

    This tutorial assumes that V-REP has been installed in /opt/V-REP/ directory.

  5. 5.

    I.e. the raw value read from a sensor.

  6. 6.

    This application was created for debugging purposes and it is not discussed in this chapter.

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Authors and Affiliations

  1. Advanced Laboratory of Embedded Systems and Robotics (LASER), Federal University of Technology—Parana (UTFPR), Av. Sete de Setembro 3165, Curitiba, 80230-901, Brazil

    Emanoel Koslosky, André Schneider de Oliveira, Marco Aurélio Wehrmeister & João Alberto Fabro

Authors
  1. Emanoel Koslosky
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  2. André Schneider de Oliveira
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  3. Marco Aurélio Wehrmeister
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  4. João Alberto Fabro
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Corresponding author

Correspondence to Emanoel Koslosky .

Editor information

Editors and Affiliations

  1. College of CS & Informat Systems, Prince Sultan University College of CS & Informat Systems, Riyadh, Saudi Arabia

    Anis Koubaa

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Koslosky, E., de Oliveira, A.S., Wehrmeister, M.A., Fabro, J.A. (2017). Designing Fuzzy Logic Controllers for ROS-Based Multirotors. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 707. Springer, Cham. https://doi.org/10.1007/978-3-319-54927-9_2

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  • DOI: https://doi.org/10.1007/978-3-319-54927-9_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54926-2

  • Online ISBN: 978-3-319-54927-9

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