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

Feddema, John T; Driessen, Brian J; Kwok, Kwan S

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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:

Feddema, John T ^[1]; Driessen, Brian J ^[1]; Kwok, Kwan S ^[1]

Albuquerque, NM

Issue Date:: 2002-01-01

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

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G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G05D1/0221 - {involving a learning process}
G05D1/0289 - {with means for avoiding collisions between vehicles

G - PHYSICS G08 - SIGNALLING G08G - TRAFFIC CONTROL SYSTEMS
G08G1/164 - {Centralised systems, e.g. external to vehicles}

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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/

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                    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. 
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                    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.

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                    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.

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@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         = {2002},

  month        = {1}

}

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Works referenced in this record:

An auto-tuning fuzzy rule-based visual servoing algorithm for a slave arm
conference, August 1995

Kim, Joo Gon; Cha, Dong Hyuk; Cho, Kyung Suck
Proceedings of Tenth International Symposium on Intelligent Control
https://doi.org/10.1109/ISIC.1995.525056

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

Feddema, J. T.; Robinett, R. D.; Driessen, B. J.
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
https://doi.org/10.1109/ROBOT.1998.677245

An Introduction to Fuzzy Control
book, January 1993

Driankov, Dimiter; Hellendoorn, Hans; Reinfrank, Michael
https://doi.org/10.1007/978-3-662-11131-4

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

Fukuda, T.; Shimojima, K.
1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century
https://doi.org/10.1109/ICSMC.1995.538222

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

Brooks, R.
IEEE Journal on Robotics and Automation, Vol. 2, Issue 1
https://doi.org/10.1109/JRA.1986.1087032

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

Feddema, John T.; Robinett III, Rush D.; Driessen, Brian J.
Intelligent Systems & Advanced Manufacturing, SPIE Proceedings
https://doi.org/10.1117/12.287654

A learning method of fuzzy inference rules by descent method
conference, January 1992

Nomura, H.; Hayashi, I.; Wakami, N.
[1992 Proceedings] IEEE International Conference on Fuzzy Systems
https://doi.org/10.1109/FUZZY.1992.258618

Motion control of cooperative robotic teams through visual observation and fuzzy logic control
conference, January 1996

Marapane, S. B.; Trivedi, M. M.; Lassiter, N.
Proceedings of IEEE International Conference on Robotics and Automation
https://doi.org/10.1109/ROBOT.1996.506963

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

Maeda, Yoichiro; Tanabe, Minoru; Takagi, Tomohiro
Information Sciences, Vol. 71, Issue 1-2
https://doi.org/10.1016/0020-0255(93)90069-X

Design of stability-guaranteed fuzzy logic controller for nuclear steam generators
journal, April 1996

Cho, Byung Hak; No, Hee Cheon
IEEE Transactions on Nuclear Science, Vol. 43, Issue 2, p. 716-730
https://doi.org/10.1109/23.491522

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Similar Records

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

Abstract

Citation Formats

An auto-tuning fuzzy rule-based visual servoing algorithm for a slave arm conference, August 1995

Decentralized fuzzy control of multiple nonholonomic vehicles conference, January 1998

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

An Introduction to Fuzzy Control book, January 1993

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

Design of stability-guaranteed fuzzy logic controller for nuclear steam generators journal, April 1996

An auto-tuning fuzzy rule-based visual servoing algorithm for a slave arm
conference, August 1995

Decentralized fuzzy control of multiple nonholonomic vehicles
conference, January 1998

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

An Introduction to Fuzzy Control
book, January 1993

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

Design of stability-guaranteed fuzzy logic controller for nuclear steam generators
journal, April 1996