Evolutionary fuzzy control of three robots cooperatively carrying an object for wall following through the fusion of continuous ACO and PSO

Min Ge Lai, Chia Feng Juang*, I. Fang Chung

*此作品的通信作者

研究成果: Conference contribution同行評審

2 引文 斯高帕斯(Scopus)

摘要

This paper proposes evolutionary fuzzy control of three robots cooperatively carrying an object in executing a convex wall following behavior. The object is not connected to the robots and may fall off for a failed control. Evolutionary fuzzy control of a single robot for wall following is first performed. Then, evolutionary fuzzy control of two robots cooperatively carrying a long strip object along the wall is performed. For the carry of a larger object for wall following, a third robot is included to cooperate with the two successfully controlled robots. Fuzzy controller of the third robot is also learned through a data-driven evolutionary learning approach. To improve learning efficiency of the FC, the swarm intelligence algorithm of adaptive fusion of continuous ant colony optimization and particle swarm optimization (AF-CACPSO) is employed. Simulations show the effectiveness of the evolutionary fuzzy control approach for the three cooperative object-carrying robots.

原文English
主出版物標題Advances in Swarm Intelligence - 8th International Conference, ICSI 2017, Proceedings
編輯Ben Niu, Hideyuki Takagi, Yuhui Shi, Ying Tan
發行者Springer Verlag
頁面225-232
頁數8
ISBN(列印)9783319618326
DOIs
出版狀態Published - 2017
事件8th International Conference on Swarm Intelligence, ICSI 2017 - Fukuoka, Japan
持續時間: 27 7月 20171 8月 2017

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
10386 LNCS
ISSN(列印)0302-9743
ISSN(電子)1611-3349

Conference

Conference8th International Conference on Swarm Intelligence, ICSI 2017
國家/地區Japan
城市Fukuoka
期間27/07/171/08/17

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