The Multitasking System of Swarm Robot based on Null-Space-Behavioral Control Combined with Fuzzy Logic

Micromachines

Nga Le Thi Thuy¹  Thang Nguyen Trong² 

[1] Department of Cybernetics, University of Transport and Communication, Hanoi 122000, Vietnam;Department of Electrical Engineering and Automation, Haiphong Private University, Haiphong 181810, Vietnam;

关键词: swarm robot;    Lyapunov theory;    fuzzy control;    multitasking;   

DOI  :  10.3390/mi8120357

来源: DOAJ

【 摘 要 】

A swarm robot is a collection of large numbers of simple robots used to perform complex tasks that a single robot cannot perform or only perform ineffectively. The swarm robot works successfully only when the cooperation mechanism among individual robots is satisfied. The cooperation mechanism studied in this article ensures the formation and the distance between each pair of individual robots while moving to their destination while avoiding obstacles. The solved problems in this article include; controlling the suction/thrust force between each pair of individual robots in the swarm based on the fuzzy logic structure of the Singer-Input-Singer-Output under Mamdani law; demonstrating the stability of the system based on the Lyapunov theory; and applying control to the multitasking system of the swarm robot based on Null-Space-Behavioral control. Finally, the simulation results make certain that all the individual robots assemble after moving and avoid obstacles.

【 授权许可】

Unknown