標題: Using a Self-Clustering Algorithm and Type-2 Fuzzy Controller for Multi-robot Deployment and Navigation in Dynamic Environments
作者: Jhang, Jyun-Yu
Lee, Chin-Ling
Lin, Cheng-Jian
Young, Kuu-Young
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: cluster algorithm;fuzzy controller;mobile robot control;navigation control;robot deployment;type-2 fuzzy set
公開日期: 1-Jan-1970
摘要: This study proposes a novel method for multi-robot deployment and navigation under dynamic environments. To automatically determine the location deployment of multiple robots, a grid-based method and self-clustering algorithm (SCA) were used to simplify the environmental information and automatically deploy robot locations. In the navigation process, a behavior selector automatically turns on towards goal mode or wall-following mode (WFM) depending on environmental conditions. WFM control adopts an interval type-2 fuzzy controller (IT2FC). The parameters of the IT2FC are adjusted by using the dynamic group whale optimization algorithm (DGWOA). The proposed DGWOA uses a dynamic group and Levy flight strategy to overcome the problem of falling into a local minimum solution. Experimental results reveal that the proposed method can successfully complete navigation tasks under dynamic environments.
URI: http://dx.doi.org/10.1002/asjc.2283
http://hdl.handle.net/11536/153526
ISSN: 1561-8625
DOI: 10.1002/asjc.2283
期刊: ASIAN JOURNAL OF CONTROL
起始頁: 0
結束頁: 0
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