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Evolutionary Fuzzy Control of Three Robots Cooperatively Carrying an Object for Wall Following Through the Fusion of Continuous ACO and PSO

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Advances in Swarm Intelligence (ICSI 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10386))

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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.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan

    Min-Ge Lai & Chia-Feng Juang

  2. Institute of Biomedical Informatics, National Yang-Ming University, Taipei, Taiwan

    I-Fang Chung

Authors
  1. Min-Ge Lai
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  2. Chia-Feng Juang
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  3. I-Fang Chung
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Corresponding author

Correspondence to Chia-Feng Juang .

Editor information

Editors and Affiliations

  1. Peking University, Beijing, China

    Ying Tan

  2. Kyushu University, Fukuoka, Japan

    Hideyuki Takagi

  3. Southern University of Science and Technology, Shenzhen, China

    Yuhui Shi

  4. Shenzhen University, Shenzhen, China

    Ben Niu

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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

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  • DOI: https://doi.org/10.1007/978-3-319-61833-3_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61832-6

  • Online ISBN: 978-3-319-61833-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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