Title :
Adaptive formation behaviors of multi-robot for cooperative exploration
Author :
Yasuda, Yutaka ; Kubota, Naoyuki ; Toda, Yuichiro
Author_Institution :
Grad. Sch. of Syst. Design, Tokyo Metropolitan Univ., Tokyo, Japan
Abstract :
This paper proposes a method for constituting the formation of a multi-robot system according to dynamically changing environments. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we discuss multi-robot behaviors based on the concept of coupling. The tight coupling is realized by the spring model while the loose coupling is realized by the individual decision making based on connection and disconnection with other robots. Furthermore, the proposed method is applied to the exploration in unknown environments. Finally, we discuss the effectiveness of the proposed method through several simulation results.
Keywords :
adaptive systems; collision avoidance; decision making; fuzzy control; multi-agent systems; multi-robot systems; adaptive formation behaviors; collision avoidance; cooperative exploration; decision making; fuzzy control; loose coupling; multiobjective behavior coordination; multirobot behaviors; multirobot system; spring model; target position calculation; target tracing; tight coupling; Collision avoidance; Couplings; Humans; Robot kinematics; Robot sensing systems; Springs; exploration; formation; fuzzy control; monitoring; multi-agent system;
Conference_Titel :
Fuzzy Systems (FUZZ-IEEE), 2012 IEEE International Conference on
Conference_Location :
Brisbane, QLD
Print_ISBN :
978-1-4673-1507-4
Electronic_ISBN :
1098-7584
DOI :
10.1109/FUZZ-IEEE.2012.6251150