A Multi-agent Architecture for Controlling Autonomous Mobile Robots Using Fuzzy Logic and Obstacle Avoidance with Computer Vision

This paper describes the development of a Multi-Agent System (MAS), which is supported with fuzzy logic (to control the robots movements in a reactive path) and computer vision, which controls an autonomous mobile robot to exit a maze. The research consists of two stages. In the first stage the problem is to be able to make the robot exit a maze, the mobile robot is positioned at the entrance (point A) and should reach an output (B), it should be noted that we are working with a NXT robot to Lego MINDSTORMS ®. In its second phase the problem is to make the robot search for a recognized object, for this purpose a camera is used to capture images, which will be processed with vision techniques for identification, and after that, the SMA takes the decision to evade or take the object as appropriate.