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
收藏
页码：246 / 251
页数：6
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