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Fuzzy behavior hierarchies for multi-robot control

2002; Wiley; Volume: 17; Issue: 5 Linguagem: Inglês

10.1002/int.10032

1098-111X

Edward Tunstel, Marco Antonio Assfalk de Oliveira, Sigal Berman,

Fuzzy Logic and Control Systems

International Journal of Intelligent SystemsVolume 17, Issue 5 p. 449-470 Fuzzy behavior hierarchies for multi-robot control Edward Tunstel, Corresponding Author Edward Tunstel NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109Search for more papers by this authorMarco A. A. de Oliveira, Marco A. A. de Oliveira NASA Center for Autonomous Control Engineering, University of New Mexico, Albuquerque, NM 87131Search for more papers by this authorSigal Berman, Sigal Berman Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva 84105, IsraelSearch for more papers by this author Edward Tunstel, Corresponding Author Edward Tunstel NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109Search for more papers by this authorMarco A. A. de Oliveira, Marco A. A. de Oliveira NASA Center for Autonomous Control Engineering, University of New Mexico, Albuquerque, NM 87131Search for more papers by this authorSigal Berman, Sigal Berman Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva 84105, IsraelSearch for more papers by this author First published: 08 April 2002 https://doi.org/10.1002/int.10032Citations: 29AboutPDF ToolsRequest permissionExport citationAdd to favoritesTrack citation ShareShare Give accessShare full text accessShare full-text accessPlease review our Terms and Conditions of Use and check box below to share full-text version of article.I have read and accept the Wiley Online Library Terms and Conditions of UseShareable LinkUse the link below to share a full-text version of this article with your friends and colleagues. Learn more.Copy URL Abstract Hierarchical approaches and methodologies are commonly used for control system design and synthesis. Well-known model-based techniques are often applied to solve problems of complex and large-scale control systems. The general philosophy of decomposing control problems into modular and more manageable subsystem control problems applies equally to the growing domain of intelligent and autonomous systems. However, for this class of systems, new techniques for subsystem coordination and overall system control are often required. This article presents an approach to hierarchical control design and synthesis for the case where the collection of subsystems is comprised of fuzzy logic controllers and fuzzy knowledge-based decision systems. The approach is used to implement hierarchical behavior-based controllers for autonomous navigation of one or more mobile robots. Theoretical details of the approach are presented, followed by discussions of practical design and implementation issues. 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