Using fuzzy logic in shape control of cyclic networks in multi-vehicle formations
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Date
2011
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info:eu-repo/semantics/closedAccess
Abstract
The paper examines cyclic persistent networks at the level of sensing and control architectures that are needed to maintain the shape of a multi-agent formation in two dimensional space, while the formation moves as a cohesive whole. The key tools we use are rigidity theory and graph theory. Then, the paper focuses on the planner level and controller level of the architecture by designing fuzzy logic based planner and fuzzy controller of individual agents. We simulate the fuzzy planner and the fuzzy controller on kinematic unicycles for an exemplary cyclic formation generated by the results obtained in the first half of the paper. The validity of the proposed approach in the shape control of multi-agent formations is verified through simulation experiments. © 2011 IEEE.
Description
Mediterranean Control Association
2011 19th Mediterranean Conference on Control and Automation, MED 2011 -- 20 June 2011 through 23 June 2011 -- Corfu -- 86335
2011 19th Mediterranean Conference on Control and Automation, MED 2011 -- 20 June 2011 through 23 June 2011 -- Corfu -- 86335
Keywords
autonomous mobile robots, autonomous vehicles, cooperative control systems, fuzzy control, Multi-vehicle formations
Journal or Series
2011 19th Mediterranean Conference on Control and Automation, MED 2011
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