Vibration-Adaptive Velocity Control for Mobile Robots Using Fuzzy Logic: Experimental Bag Files

This dataset contains the recorded ROS 2 bag files for the experimental campaign reported in Chapter 5 of the MSc thesis Vibration-Adaptive Velocity Control for Mobile Robots Using Fuzzy Logic: Online IMU-Based Approach (University of Turku, 2026). Nine runs were recorded on 19 May 2026 on an iRobot Create 3 mobile robot driven by a PS4 wireless game controller on a smooth indoor linoleum floor, distributed across three conditions repeated three times each: fuzzy controller enabled with linear motion and operator-applied disturbance, fuzzy controller disabled with the same disturbance protocol, and fuzzy controller enabled with angular motion and disturbance. Each bag contains the topics /imu/raw, /vibration_feature, /cmd_vel_user, /S2R5/cmd_vel, and /odom. The analysis scripts that reproduce the figures of Chapter 5 from these bags are in the accompanying GitHub repository: https://github.com/paulaep/Vibration_Adaptive_Velocity_Control_for_Mobile_Robots_Using_Fuzzy_Logic