標題: | Cooperative Carrying Control for Multi-Evolutionary Mobile Robots in Unknown Environments |
作者: | Jhang, Jyun-Yu Lin, Cheng-Jian Young, Kuu-Young 電控工程研究所 Institute of Electrical and Control Engineering |
關鍵字: | evolutionary mobile robot;fuzzy control;navigation control;cooperative carrying;differential evolution |
公開日期: | 6-三月-2019 |
摘要: | This study provides an effective cooperative carrying and navigation control method for mobile robots in an unknown environment. The manager mode switches between two behavioral control modes-wall-following mode (WFM) and toward-goal mode (TGM)-based on the relationship between the mobile robot and the unknown environment. An interval type-2 fuzzy neural controller (IT2FNC) based on a dynamic group differential evolution (DGDE) is proposed to realize the carrying control and WFM control for mobile robots. The proposed DGDE uses a hybrid method that involves a group concept and an improved differential evolution to overcome the drawbacks of the traditional differential evolution algorithm. A reinforcement learning strategy was adopted to develop an adaptive WFM control and achieve cooperative carrying control for mobile robots. The experimental results demonstrated that the proposed DGDE is superior to other algorithms at using WFM control. Moreover, the experimental results demonstrate that the proposed method can complete the task of cooperative carrying, and can realize navigation control to enable the robot to reach the target location. |
URI: | http://dx.doi.org/10.3390/electronics8030298 http://hdl.handle.net/11536/151701 |
ISSN: | 2079-9292 |
DOI: | 10.3390/electronics8030298 |
期刊: | ELECTRONICS |
Volume: | 8 |
Issue: | 3 |
起始頁: | 0 |
結束頁: | 0 |
顯示於類別: | 期刊論文 |