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:
-
- Albuquerque, NM
- Issue Date:
- Research Org.:
- Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
- OSTI Identifier:
- 874372
- Patent Number(s):
- 6377878
- Assignee:
- Sandia Corporation (Albuquerque, NM)
- Patent Classifications (CPCs):
-
G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G - PHYSICS G08 - SIGNALLING G08G - TRAFFIC CONTROL SYSTEMS
- 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. Tue .
"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 = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Jan 01 00:00:00 EST 2002},
month = {Tue Jan 01 00:00:00 EST 2002}
}
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