A Movement Control System Based on Qualitative Reasoning

  • Przemysław Wałęga
  • Emilio Muñoz-Velasco
Conference paper

DOI: 10.1007/978-3-319-19719-7_16

Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 368)
Cite this paper as:
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


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.


Qualitative reasoning Qualitative movement Movement Control Collision avoidance 

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

Personalised recommendations