Designing Fuzzy Logic Controllers for ROS-Based Multirotors

Abstract

This chapter presents a tutorial on using an open-source ROS package for implementing control systems based on Fuzzy Logic. Such a package has been created to facilitate the development of fuzzy control systems along with ROS technology and infrastructure. A step-by-step tutorial discusses how to develop a set of distributed and interconnected fuzzy controllers using the proposed ROS package. A fuzzy control system that controls the movement of an unmanned multirotor (specifically a hexacopter) is presented as case study. The behavior of this control system is demonstrated by means of a commercial robotics simulation environment named V-REP. One scenario is used to illustrate the fuzzy control system steering the movement of a virtual hexacopter carrying an attached loose payload, i.e. such a loose payload forms a pendulum. In this case study, one can see the hexacopter flight after receiving commands to fly to distinct positions within the scenario. It is important to highlight that, in order to be able to perform this tutorial, the reader must use ROS Indigo Igloo and V-REP PRO EDU version V3.3.0 both running on Ubuntu 14.04.4 LTS.