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Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic

Patent ·
OSTI ID:874372
 [1];  [1];  [1]
  1. Albuquerque, NM
+ Show Author Affiliations

A decentralized fuzzy logic control system for one vehicle or for multiple robotic vehicles provides a way to control each vehicle to converge on a goal without collisions between vehicles or collisions with other obstacles, in the presence of noisy input measurements and a limited amount of compute-power and memory on board each robotic vehicle. The fuzzy controller demonstrates improved robustness to noise relative to an exact controller.

Research Organization:
SANDIA CORP
DOE Contract Number:
AC04-94AL85000
Assignee:
Sandia Corporation (Albuquerque, NM)
Patent Number(s):
US 6377878
OSTI ID:
874372
Country of Publication:
United States
Language:
English

References (11)

A robust layered control system for a mobile robot journal January 1986
Explaining finite state machine characteristics using variable structure control conference September 1997
Design of stability-guaranteed fuzzy logic controller for nuclear steam generators journal April 1996
Behavior-decision fuzzy algorithm for autonomous mobile robots journal June 1993
Designing stable finite state machine behaviours using phase plane analysis and variable structure control conference January 1998
Decentralized fuzzy control of multiple nonholonomic vehicles
  • Driessen, B. J.; Feddema, J. T.; Kwok, K. S.
  • Proceedings of the 1998 American Control Conference (ACC), Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) https://doi.org/10.1109/ACC.1998.694700
conference January 1998
An Introduction to Fuzzy Control book January 1993
Fusion of fuzzy, NN, GA to the intelligent robotics conference January 1995
A learning method of fuzzy inference rules by descent method conference January 1992
Motion control of cooperative robotic teams through visual observation and fuzzy logic control conference January 1996
An auto-tuning fuzzy rule-based visual servoing algorithm for a slave arm conference August 1995

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