DocumentCode
2519471
Title
Multirobot convoying using neuro-fuzzy control
Author
Ng, Kim C. ; Trivedi, Mohan M.
Author_Institution
Dept. of Electr. & Comput. Eng., California Univ., San Diego, La Jolla, CA, USA
Volume
4
fYear
1996
fDate
25-29 Aug 1996
Firstpage
417
Abstract
In this paper real-time implementation of multirobot convoying behavior utilizing neuro-fuzzy control is presented. With only nine rules, the follower convoys the leader closely and smoothly by varying its speed and changing its direction. When the leader stops, the follower stops very close to the specified safe distance (within an inch). The follower backs up quickly when the leader moves backward toward it (herding behavior)
Keywords
cooperative systems; fuzzy control; mobile robots; motion control; neurocontrollers; nonlinear dynamical systems; velocity control; herding behavior; multirobot convoying; neuro-fuzzy control; real-time implementation; safe distance; Communication system control; Fuzzy control; Fuzzy logic; Fuzzy neural networks; Mobile robots; Motion control; Navigation; Neural networks; Neurons; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Pattern Recognition, 1996., Proceedings of the 13th International Conference on
Conference_Location
Vienna
ISSN
1051-4651
Print_ISBN
0-8186-7282-X
Type
conf
DOI
10.1109/ICPR.1996.547600
Filename
547600
Link To Document