Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
FUZZY COGNITIVE MAPS EMBEDDED IN A LOW COST AUTONOMOUS MOBILE ROBOT
Submission Author:
Márcio Mendonça , Pr
Co-Authors:
Márcio Mendonça, Guilherme Bender Sartori, Lucas Botoni de Souza, Giovanni Bruno Marquini Ribeiro
Presenter: Lucas Botoni de Souza
doi://10.26678/ABCM.COBEM2019.COB2019-1526
Abstract
This work presents an evolution of prototype from a previous work, where Hybrid Dynamic Fuzzy Cognitive Maps (HD-FCM) were used to reach targets, of known position, while avoiding obstacles. This paper proposes applying Fuzzy Cognitive Maps (FCM) to control the decision-making process of a low cost autonomous mobile robot. The task to find the objective has evolved from the previous work, as the robot does not know its target’s position anymore. The system is embedded using an ATMega2560 microcontroller and the motors' actuation will be inferred by the FCM, directly from sensors reading. This approach presents a smoother detour and optimize movement speed and trajectory, compared to a multi-valued logic controller. In our initial real results, the robot can reach its destination without human intervention and trajectory programming, through different scenarios. Therefore, it is completely autonomous to find its objective. Due to the decision-making capabilities of the FCM, the system avoids obstacles and reaches the objective quickly and efficiently. Finally, future works will conclude this research.
Keywords
Fuzzy Cognitive Maps, Autonomous Mobile Robot, Embedded Systems
