Fuzzy behavior-based control of mobile robots

被引：56

作者：

Vadakkepat, P ^{[1
]}

Miin, CC ^{[1
]}

Peng, X ^{[1
]}

Lee, TH ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect & Comp Engn, S-117576 Singapore, Singapore

来源：

IEEE TRANSACTIONS ON FUZZY SYSTEMS | 2004年 / 12卷 / 04期

关键词：

behavior-based architecture; fuzzy control; multiple mobile robots; robot soccer;

D O I：

10.1109/TFUZZ.2004.832536

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

An extensive fuzzy behavior-based architecture is proposed for the control of mobile robots in a multiagent environment. The behavior-based architecture decomposes the complex multirobotic system into smaller modules of roles, behaviors and actions. Fuzzy logic is used to implement individual behaviors, to coordinate the various behaviors, to select roles for each robot and, for robot perception, decision-making, and speed control. The architecture is implemented on a team of three soccer robots performing different roles interchangeably. The robot behaviors and roles are designed to be complementary to each other, so that a coherent team of robots exhibiting good collective behavior is obtained.

引用

页码：559 / 564

页数：6

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