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

Abstract

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.

Inventors:
 [1];  [1];  [1]
  1. Albuquerque, NM
Publication Date:
Research Org.:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
OSTI Identifier:
874372
Patent Number(s):
US 6377878
Assignee:
Sandia Corporation (Albuquerque, NM)
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
convergent; method; apparatus; distributed; control; robotic; systems; fuzzy; logic; decentralized; vehicle; multiple; vehicles; provides; converge; goal; collisions; obstacles; presence; noisy; input; measurements; limited; amount; compute-power; memory; board; controller; demonstrates; improved; robustness; noise; exact; robotic vehicle; /701/340/

Citation Formats

Feddema, John T, Driessen, Brian J, and Kwok, Kwan S. Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic. United States: N. p., 2002. Web.
Feddema, John T, Driessen, Brian J, & Kwok, Kwan S. Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic. United States.
Feddema, John T, Driessen, Brian J, and Kwok, Kwan S. 2002. "Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic". United States. https://www.osti.gov/servlets/purl/874372.
@article{osti_874372,
title = {Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic},
author = {Feddema, John T and Driessen, Brian J and Kwok, Kwan S},
abstractNote = {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.},
doi = {},
url = {https://www.osti.gov/biblio/874372}, journal = {},
number = ,
volume = ,
place = {United States},
year = {2002},
month = {1}
}

Works referenced in this record:

Decentralized fuzzy control of multiple nonholonomic vehicles
conference, January 1998

  • 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

Designing stable finite state machine behaviours using phase plane analysis and variable structure control
conference, January 1998


Fusion of fuzzy, NN, GA to the intelligent robotics
conference, January 1995


A robust layered control system for a mobile robot
journal, January 1986


Explaining finite state machine characteristics using variable structure control
conference, September 1997


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


Behavior-decision fuzzy algorithm for autonomous mobile robots
journal, June 1993