Abstract
In the presented article a new approach to a collision-free trajectory generating for a wheeled mobile robots formation with Adaptive Critic Designs and Fuzzy Logic algorithm, is proposed. The presented hierarchical control system consists of a trajectory generating algorithm based on a conception of reactive navigation of the wheeled mobile robots formation in the unknown 2D environment, a control system that generates individual trajectories for all agents in formation, and agents tracking control systems. A strategy of reactive navigation is developed including two main behaviours: a obstacle avoiding behaviour and a goal-seeking behaviour, realised in a form of Adaptive Critic Design algorithms. These individual behaviours are combined using two approaches: cooperative connection approach and the fuzzy combiner, that determines influence of the individual behaviours on the trajectory generation process, according to the environment conditions. Computer simulations have been conducted to illustrate the process of path planning in different environment conditions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Arkin, R.C.: Behavior-Based Robotics. MIT Press, Cambridge (1998)
Burghardt, A.: Proposal for a Rapid Prototyping Environment for Algorithms Intended for Autonomous Mobile Robot Control. Mechanics and Mechanical Engineering 12, 5–16 (2008)
Egerstedt, M., Hu, X.: Formation Constrained Multi-Agent Control. IEEE Transactions on Robotics and Automation 17, 947–951 (2001)
Giergiel, J., Hendzel, Z., Zylski, W.: Modeling and Control of Wheeled Mobile Robots. PWN, Warsaw (2002) (in polish)
Hendzel, Z., Burghardt, A., Szuster, M.: Artificial Intelligence Methods in Reactive Navigation of Mobile Robots Formation. In: 4th International Conference on Neural Computation Theory and Applications, pp. 466–473. SciTePress, Barcelona (2012)
Hendzel, Z., Szuster, M.: Discrete Action Dependant Heuristic Dynamic Programming in Wheeled Mobile Robot Control. Solid State Phenomena 164, 419–424 (2010)
Hendzel, Z., Szuster, M.: Discrete Model-Based Adaptive Critic Designs in Wheeled Mobile Robot Control. In: Rutkowski, L., Scherer, R., Tadeusiewicz, R., Zadeh, L.A., Zurada, J.M. (eds.) ICAISC 2010, Part II. LNCS, vol. 6114, pp. 264–271. Springer, Heidelberg (2010)
Hendzel, Z., Szuster, M.: Neural Dynamic Programming in Reactive Navigation of Wheeled Mobile Robot. In: Rutkowski, L., Korytkowski, M., Scherer, R., Tadeusiewicz, R., Zadeh, L.A., Zurada, J.M. (eds.) ICAISC 2012, Part II. LNCS, vol. 7268, pp. 450–457. Springer, Heidelberg (2012)
Maaref, H., Barret, C.: Sensor-based Navigation of a Mobile Robot in an Indoor Environment. Robotics and Autonomous Systems 38, 1–18 (2002)
Millan, J.: Reinforcement Learning of Goal-Directed Obstacle-Avoiding Reaction Strategies in an Autonomous Mobile Robot. Robotics and Autonomous Systems 15, 275–299 (1995)
Orgen, P., Leonard, N.: Obstacle Avoidance in Formation. In: IEEE International Conference on Robotics and Automation, pp. 2492–2497. IEEE Press, Taipei (2003)
Powell, W.B.: Approximate Dynamic Programming: Solving the Curses of Dimensionality. Willey-Interscience, Princeton (2007)
Prokhorov, D., Wunch, D.: Adaptive Critic Designs. IEEE Transactions on Neural Networks 8, 997–1007 (1997)
Si, J., Barto, A.G., Powell, W.B., Wunsch, D.: Handbook of Learning and Approximate Dynamic Programming. IEEE Press, Wiley-Interscience (2004)
Tanner, H., Pappas, G., Kumar, V.: Leader to Formation Stability. IEEE Transactions on Robotics and Automation 20, 443–445 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hendzel, Z., Burghardt, A., Szuster, M. (2013). Adaptive Critic Designs in Control of Robots Formation in Unknown Environment. In: Rutkowski, L., Korytkowski, M., Scherer, R., Tadeusiewicz, R., Zadeh, L.A., Zurada, J.M. (eds) Artificial Intelligence and Soft Computing. ICAISC 2013. Lecture Notes in Computer Science(), vol 7895. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38610-7_33
Download citation
DOI: https://doi.org/10.1007/978-3-642-38610-7_33
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-38609-1
Online ISBN: 978-3-642-38610-7
eBook Packages: Computer ScienceComputer Science (R0)