Implementation of the avoidance algorithm for autonomous mobile robots using fuzzy rules

Authors:
Jang Hyun Kim;Jin Bae Park;Hyunseok Yang
Affiliations:
Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea;Professor, Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea;Professor, Department of Mechanical Engineering, Yonsei University, Seoul, Korea
Venue:
FSKD'06 Proceedings of the Third international conference on Fuzzy Systems and Knowledge Discovery
Year:
2006

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Abstract

Complex “lifelike” behaviors are composed of local interactions of individuals under fundamental rules of artificial life. In this paper, fundamental rules for cooperative group behaviors, “Avoidance” of multiple autonomous mobile robots are represented by a small number of fuzzy rules. Fuzzy rules in Sugeno type and their related parameters are automatically generated from clustering input-output data obtained from the algorithms for the group behaviors. Simulations demonstrate the fuzzy rules successfully realize group intelligence of mobile robots.