Development of membrane controllers for mobile robots

  • Authors:
  • Catalin Buiu;Cristian Vasile;Octavian Arsene

  • Affiliations:
  • Laboratory of Natural Computing and Robotics, Politehnica University of Bucharest, Spl. Independentei 313, 060042 Bucharest, Romania and Faculty of Biology, University of Bucharest, Spl. Independe ...;Laboratory of Natural Computing and Robotics, Politehnica University of Bucharest, Spl. Independentei 313, 060042 Bucharest, Romania;Laboratory of Natural Computing and Robotics, Politehnica University of Bucharest, Spl. Independentei 313, 060042 Bucharest, Romania

  • Venue:
  • Information Sciences: an International Journal
  • Year:
  • 2012

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Abstract

The main contribution of this paper is the introduction of the new concept of membrane controller based on the structure and functioning of a deterministic numerical P system. The procedure for developing a membrane controller and for using it to control a mobile robot is explained and several test cases are given in which membrane controllers are used to control both simulated and real mobile robots and to generate various desired behaviours (obstacle avoidance, wall following, and follow the leader). The experiments reported in this paper validate the concept and prove that the performance of a membrane controller is comparable to or better than that of other controllers (such as fuzzy logic controllers).