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The stable and precise motion control for multiple mobile robots
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DOI：10.1016/j.asoc.2008.04.017.png)
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摘要
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Intelligent path planning of multiple mobile robots has been addressed in this paper. Cooperative behaviour can be achieved using several mobile robots, which require online inter-communication among themselves. In the present investigation rule-based and rule-based-neuro-fuzzy techniques are analyzed for multiple mobile robots navigation in an unknown or partially known environment. The final aims of the robots are to reach some pre-defined goals. Based upon a reference motion, direction; distances between the robots and obstacles; distances between the robots and targets; different types of rules are taken heuristically and refined later to find the steering angle. The control system combines a repelling influence related to the distance between robots and nearby obstacles and with an attracting influence between the robots and targets. Then a hybrid rule-based-neuro-fuzzy technique is analyzed to find the steering angle of the robots. Results show that the proposed rule-based-neuro-fuzzy technique can improve navigation performance in complex and unknown environments compared to this simple rule-based technique. (c) 2008 Elsevier B.V. All rights reserved.
Keyword:
Mobile robots
Obstacle avoidance
Target seeking
Rule-based
Neuro-fuzzy
Navigation
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IF:
6.6
论文数:
1.4W
被引数:
4.8W
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Hybrid control for autonomous mobile robot navigation using neural network based behavior modules and environment classification.png)
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