期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2020
卷号：14
期号：1
页码：48-54
DOI：10.14313/JAMRIS/1-2020/6
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The navigation system of a robot requires sensors to per‐ ceive its environment to get a representation. Based on this perception and the state of the robot, it needs to take an action to make a desired behavior in the environment. The actions are defined by a system that processes the obtained information. This system can be based on deci‐ sion rules defined by an expert or obtained by a training or optimization process. Fuzzy logic controllers are based on fuzzy logic on which degrees of truth are used on sy‐ stem variables and has a rule‐base that stores the kno‐ wledge about the operation of the system. In this paper a fuzzy logic controller is made with the Python fuzzylab library which is based on the Octave Fuzzy Logic Toolkit, and with the Robot Operating System (ROS) for autono‐ mous navigation of the TurtleBot3 robot on a simulated and a real environment using a LIDAR sensor to get the distance of the objects around the robot.
