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A Controller Design for the Khepera Robot : A Rough Set Approach

Suraj Z., Peters J. F., Grochowalski P.

Fundamenta Informaticae

2005

Vol. 67, nr 1-3

219-231

The Khepera robot belongs to the family of miniature mobile robots of the K-Team firm. It is used in a number of places for scientific and educational purposes. Considering its advantages (such as small size, precision of movement, ease of control), it is applied to testing different approaches in the domain of artificial intelligence. This paper describes the methodology of a control system design for the Khepera robot based on a rough set approach. The proposed approach entails a study of robot behaviour insofar as its movements are influenced by measurements from its sensors and the choice of actions that make it possible for the robot to achieve its system goals. The constructed controller concerns the realization of some tasks such as avoiding the obstacles, reaching a target, following an obstacle, finding the way out of a labyrinth. The proposed controller has been tested on both a robot simulator and on a real robot. Our experimental results show that the proposed rough set methodology can be applied to the design of a controller for the Khepera robot.