Abstract
We present \(QR_M\), a movement control system based on Qualitative Reasoning. The representation of relative movement of an object with respect to another is done by using different components given by qualitative values, such as velocity, orientation, latitude, longitude, etc. These qualitative values are obtained from quantitative data by means of a nonlinear system with hysteresis. We also use composition tables for new data inferring and a table-based control system. The system is implemented in Robotic Operating System ROS and tested with computer simulator STAGE. We show how \(QR_M\) works in real applications on the basis of two experiments.
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Notes
- 1.
Henceforth, for a better reading, we eliminate the curly brackets in the sets and the parenthesis in the tuples, and we use semicolon “;” to separate two consecutive components of the movement.
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Acknowledgments
The work presented in this paper is partially supported by the Polish National Science Centre grant 2011/02/A/HS1/00395 and by the Spanish Project TIN12-39353-C04-01.
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Wałęga, P., Muñoz-Velasco, E. (2015). A Movement Control System Based on Qualitative Reasoning. In: Herrero, Á., Sedano, J., Baruque, B., Quintián, H., Corchado, E. (eds) 10th International Conference on Soft Computing Models in Industrial and Environmental Applications. Advances in Intelligent Systems and Computing, vol 368. Springer, Cham. https://doi.org/10.1007/978-3-319-19719-7_16
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DOI: https://doi.org/10.1007/978-3-319-19719-7_16
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