Fuzzy-logic-based behaviour coordination in a multi-robot system

D. T. Pham; M. H. Awadalla

doi:10.1243/0954405041167194

Fuzzy-logic-based behaviour coordination in a multi-robot system

D. T. Pham, M. H. Awadalla^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

This paper proposes a biologically inspired collective behaviour for a team of cooperating mobile robots. This behaviour is achieved by controlling the local interactions among a team of identical mobile robots performing a set of simple behaviours in the context of tracking a dynamic target. In general, the behaviours of the individual robots have different aims and this may cause conflict. To address this issue, a fuzzy-logic-based approach for the coordination of multiple behaviours in each robot is proposed. Computer simulation of mobile robots tracking a dynamic target is employed to test this approach. The results show an improvement in overall group performance even in a cluttered environment.

Original language	English
Pages (from-to)	583-598
Number of pages	16
Journal	Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture
Volume	218
Issue number	6
DOIs	https://doi.org/10.1243/0954405041167194
Publication status	Published - Jun 2004
Externally published	Yes

Keywords

Behaviour coordination
Fuzzy logic
Mobile robots
Self-organization
Social insects

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1243/0954405041167194

Cite this

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AB - This paper proposes a biologically inspired collective behaviour for a team of cooperating mobile robots. This behaviour is achieved by controlling the local interactions among a team of identical mobile robots performing a set of simple behaviours in the context of tracking a dynamic target. In general, the behaviours of the individual robots have different aims and this may cause conflict. To address this issue, a fuzzy-logic-based approach for the coordination of multiple behaviours in each robot is proposed. Computer simulation of mobile robots tracking a dynamic target is employed to test this approach. The results show an improvement in overall group performance even in a cluttered environment.

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KW - Self-organization

KW - Social insects

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Fuzzy-logic-based behaviour coordination in a multi-robot system

Abstract

Keywords

ASJC Scopus subject areas

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