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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
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 = {2002},
month = {1}
}

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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

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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