Abstract
This paper proposes a biologically inspired collective behaviour for a team of cooperating mobile robots. This behaviour is achieved by controlling the local interactions among a team of identical mobile robots performing a set of simple behaviours in the context of tracking a dynamic target. In general, the behaviours of the individual robots have different aims and this may cause conflict. To address this issue, a fuzzy-logic-based approach for the coordination of multiple behaviours in each robot is proposed. Computer simulation of mobile robots tracking a dynamic target is employed to test this approach. The results show an improvement in overall group performance even in a cluttered environment.
Original language | English |
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Pages (from-to) | 583-598 |
Number of pages | 16 |
Journal | Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture |
Volume | 218 |
Issue number | 6 |
DOIs | |
Publication status | Published - Jun 2004 |
Externally published | Yes |
Keywords
- Behaviour coordination
- Fuzzy logic
- Mobile robots
- Self-organization
- Social insects
ASJC Scopus subject areas
- Mechanical Engineering
- Industrial and Manufacturing Engineering