Abstract
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Cupertino, F., Giordano, V., Naso, D., Delfine, L.: Fuzzy control of a mobile robot. IEEE Robot. Autom. Mag. 13(4), 74–81 (2006)
Zhu, A., Yang, S.X.: Neurofuzzy-based approach to mobile robot navigation in unknown environments. IEEE Trans. Syst. Man Cybern. C Appl. Rev. 37(4), 610–621 (2007)
Juang, C.F., Hsu, C.H.: Reinforcement ant optimized fuzzy controller for mobile-robot wall-following control. IEEE Trans. Ind. Electron. 56(10), 3931–3940 (2009)
Hsu, C.H., Juang, C.F.: Evolutionary robot wall-following control using type-2 fuzzy controller with species-DE activated continuous ACO. IEEE Trans. Fuzzy Syst. 21(1), 100–112 (2013)
Paredes, A.C., Malfaz, M., Salichs, M.A.: Signage system for the navigation of autonomous robots in indoor environments. IEEE Trans. Ind. Inform. 10(1), 680–688 (2014)
Zaheer, S.A., Choi, S.H., Jung, C.Y., Kim, J.H.: A modular implementation scheme for nonsingleton type-2 fuzzy logic systems with input uncertainties. IEEE/ASME Trans. Mechatron. 20(6), 3182–3193 (2015)
Juang, C.F., Chen, Y.H., Jhan, Y.H.: Wall-following control of a hexapod robot using a data-driven fuzzy controller learned through differential evolution. IEEE Trans. Ind. Electron. 62(1), 611–619 (2015)
Juang, C.F., Lai, M.G., Zeng, W.T.: Evolutionary fuzzy control and navigation for two wheeled robots cooperatively carrying an object in unknown environments. IEEE Trans. Cybern. 45(9), 1731–1743 (2015)
Ghosh, A., Ghosh, A., Konar, A., Janarthanan, R.: Multi-robot cooperative box-pushing problem using multi-objective particle swarm optimization technique. In: Proceedings of 2012 World Congress on Information and Communication Technologies, pp. 272–277 (2012)
Liu, Z., Kamogawa, H., Ota, J.: Manipulation of an irregularly shaped object by two mobile robots. In: Proceedings of IEEE/SICE International Symposium on System Integration, Sendai, Japan, pp. 218–223 (2010)
Udomkun, M., Tangamchit, P.: Cooperative overhead transportation of a box by decentralized mobile robots. In: Proceedings of IEEE International Conference on Robotics, Automation and Mechatronics, Chengdu, China, pp. 1161–1166, September 2008
Yamaguchi, H.: A cooperative hunting behavior by mobile robot troops. In: Proceedings of IEEE International Conference on Robotics and Automation, vol. 4, pp. 3204–3209, May 1998
Mas, I., Li, S., Acain, J., Kitts, C.: Entrapment/escorting and patrolling missions in multi-robot cluster space control. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, pp. 5855–5861, October 2009
Michel, O.: Webots: professional mobile robot simulation. Int. J. Adv. Robot. Syst. 1(1), 39–42 (2004)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Lai, MG., Juang, CF., Chung, IF. (2017). Evolutionary Fuzzy Control of Three Robots Cooperatively Carrying an Object for Wall Following Through the Fusion of Continuous ACO and PSO. In: Tan, Y., Takagi, H., Shi, Y., Niu, B. (eds) Advances in Swarm Intelligence. ICSI 2017. Lecture Notes in Computer Science(), vol 10386. Springer, Cham. https://doi.org/10.1007/978-3-319-61833-3_23
Download citation
DOI: https://doi.org/10.1007/978-3-319-61833-3_23
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-61832-6
Online ISBN: 978-3-319-61833-3
eBook Packages: Computer ScienceComputer Science (R0)