Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic
Patent
·
OSTI ID:874372
- Albuquerque, NM
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 National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
- 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
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Related Subjects
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/
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/