Fuzzy Behavioral Control for Multi-Robot Border Patrol

被引：11

作者：

Marino, Alessandro ^{[1
]}

Caccavale, Fabrizio ^{[1
]}

Parker, Lynne E. ^{[2
]}

Antonelli, Gianluca ^{[3
]}

机构：

[1] Univ Basilicata, DIFA, Via dell Ateneo Lucano 10, I-85100 Potenza, Italy

[2] Univ Tennessee, Dept EECS, Knoxville, TN 37996 USA

[3] Univ Cassino, DAEIMI, I-03043 Cassino, Italy

来源：

MED: 2009 17TH MEDITERRANEAN CONFERENCE ON CONTROL & AUTOMATION, VOLS 1-3 | 2009年

关键词：

Behavioral control; Border Patrol; Platoon of vehicles; Multi-robot systems; Swarm Robotics; KINEMATIC CONTROL;

D O I：

10.1109/MED.2009.5164547

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the problem of multi-robot border patrolling. The patrolling algorithm is designed by resorting to the behavioral control framework and is organized in a hierarchical structure. Several Elementary Behaviors are defined, which are the basis of the concept of Action, placed at a higher level of abstraction with respect to the behaviors. Each Action is obtained by properly combining multiple Elementary Behaviors via the Null-Space-Behavioral control framework. For the sake of robustness, the overall patrolling algorithm is fully decentralized, since explicit communication between robots is not needed. A a Fuzzy Inference System is designed to select the proper Action according to local sensor information only. The algorithm has been validated in simulation as well as experimentally on a setup composed by three Pioneer robots.

引用

页码：246 / 251

页数：6

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