Generation of fuzzy rules and learning algorithms for cooperative behavior of autonomouse mobile Robots(AMRs)

Authors:
Jang-Hyun Kim;Jin-Bae Park;Hyun-Seok Yang;Young-Pil Park
Affiliations:
Department of Electrical Engineering, Yonsei University, Seoul, Korea;Department of Electrical Engineering, Yonsei University, Seoul, Korea;Department of Mechanical Engineering, Yonsei University, Seoul, Korea;Department of Mechanical Engineering, Yonsei University, Seoul, Korea
Venue:
FSKD'05 Proceedings of the Second international conference on Fuzzy Systems and Knowledge Discovery - Volume Part I
Year:
2005

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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, “flocking” and “arrangement” of multiple autonomouse 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.