標題: Using Interval Type-2 Recurrent Fuzzy Cerebellar Model Articulation Controller Based on Improved Differential Evolution for Cooperative Carrying Control of Mobile Robots
作者: Jhang, Jyun-Yu
Lin, Cheng-Jian
Lin, Tzu-Chao
Chen, Chao-Chun
Young, Kuu-Young
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: mobile robot;cooperative carrying;reinforcement learning;differential evolution
公開日期: 1-一月-2018
摘要: In this study, we propose an effective cooperative carrying method for mobile robots in an unknown environment. During the carrying process, the state manager (SM) switches between wall-following carrying (WFC) and toward-goal carrying (TGC) to avoid obstacles and prevent the objects from dropping. An interval type-2 recurrent fuzzy cerebellar model articulation controller (IT2RFCMAC) based on dynamic group differential evolution (DGDE) is proposed for implementing the WFC and TGC of mobile robots. The adaptive wall-following control is developed using the reinforcement learning strategy to realize cooperative carrying control for mobile robots. The experimental results indicated that the proposed DGDE is superior to other algorithms and can complete the cooperative carrying of mobile robots to reach the goal location.
URI: http://dx.doi.org/10.18494/SAM.2018.2052
http://hdl.handle.net/11536/148489
ISSN: 0914-4935
DOI: 10.18494/SAM.2018.2052
期刊: SENSORS AND MATERIALS
Volume: 30
起始頁: 2499
結束頁: 2516
顯示於類別:期刊論文