A Movement Control System Based on Qualitative Reasoning

  • Przemysław Wałęga
  • Emilio Muñoz-Velasco
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 368)

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.

Keywords

Qualitative reasoning Qualitative movement Movement Control Collision avoidance 

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Przemysław Wałęga
    • 1
  • Emilio Muñoz-Velasco
    • 2
  1. 1.Institute of PhilosophyUniversity of WarsawWarsawPoland
  2. 2.Department of Applied MathematicsUniversity of MalagaMálagaSpain

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