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
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