Decentralized fuzzy control of multiple nonholonomic vehicles

Conference · Mon Sep 01 04:00:00 EDT 1997

OSTI ID:654205

Driessen, B J; Feddema, J T; Kwok, K S

This work considers the problem of controlling multiple nonholonomic vehicles so that they converge to a scent source without colliding with each other. Since the control is to be implemented on simple 8-bit microcontrollers, fuzzy control rules are used to simplify a linear quadratic regulator control design. The inputs to the fuzzy controllers for each vehicle are the (noisy) direction to the source, the distance to the closest neighbor vehicle, and the direction to the closest vehicle. These directions are discretized into four values: Forward, Behind, Left, and Right, and the distance into three values: Near, Far, Gone. The values of the control at these discrete values are obtained based on the collision-avoidance repulsive forces and the change of variables that reduces the motion control problem of each nonholonomic vehicle to a nonsingular one with two degrees of freedom, instead of three. A fuzzy inference system is used to obtain control values for inputs between the small number of discrete input values. Simulation results are provided which demonstrate that the fuzzy control law performs well compared to the exact controller. In fact, the fuzzy controller demonstrates improved robustness to noise.

• Research Organization: Sandia National Labs., Albuquerque, NM (United States)
• Sponsoring Organization: USDOE Assistant Secretary for Management and Administration, Washington, DC (United States)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 654205
• Report Number(s): SAND--97-2352C; CONF-980623--; ON: DE98000242; BR: YN0100000
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS
COMPUTERIZED CONTROL SYSTEMS
CONTROL THEORY
FUZZY LOGIC
NAVIGATION
ROBOTS