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標題: 多台合作型機器人的進化模糊控制與導航
Evolutionary Fuzzy Control and Navigation of Multiple Cooperative Robots
作者: 賴明志
Lai, Ming-Zhi
關鍵字: 多台合作型機器導航;Navigation of Multiple Cooperative Robots;進化模糊控制;Evolutionary Fuzzy Control
出版社: 電機工程學系所
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This paper proposes navigation of multiple wheeled mobile robots cooperatively carrying an object in unknown environments. In the navigation process, multiple robots cooperatively perform either an obstacle-boundary-following (OBF) or a target seeking (TS) behavior to reach a target. Evolutionary fuzzy control of two/three robots in executing the cooperative OBF behavior through adaptive fusion of continuous ant colony and particle swarm optimization algorithms (AF-CACPSO) is proposed. All of the free parameters in a fuzzy controller (FC) are learned through the AF-CACPSO, which avoids the time-consuming manual design task. The AF-CACPSO-designed FC is first applied to the control of a single robot for the OBF behavior in a training environment. The learning approach is then applied to address the cooperative OBF problem of two/three cooperative robots, where auxiliary FCs for the other robots are designed using the AF-CACPSO. For the cooperative TS behavior, a rule for coordination of the two/three robots is proposed. In navigation, a cooperative behavior supervisor is proposed to coordinate the learned cooperative OBF behavior and the cooperative TS behavior, where the problem of dead cycles is considered. Performance of the AF-CACPSO is verified through comparisons with various population-based optimization algorithms (POAs) in the cooperative OBF behavior learning problem. Successful navigation of two/three cooperative robots in simulations and experiments verify effectiveness of the proposed evolutionary fuzzy control and navigation approaches.
其他識別: U0005-1608201317084500
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