A robot path planning system based on a hierarchical fuzzy control

Multi-robot systems have been widely used in various actual fields to perform specific tasks. In the robot system, path planning is a burning problem. To solve this challenging issue, we mainly study the problem of path planning between robots and robots, robots and robots systems. Three factors are taken into account in the paper: the robot autonomous model, the real-time detection of speed and the obstacle risk. And we find that the robot's motion path ultimately depends on a technique based on hierarchical fuzzy control. From the simulation results, we get the conclusion: in the multi-robot system, obstacle avoidance and path decision made by the hierarchical fuzzy control system are both effective and practical.

[1]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[2]  W. Burgard,et al.  Finding Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots , 2001 .

[3]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[4]  Lynne E. Parker,et al.  Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets , 2002, Auton. Robots.

[5]  Barry Brumitt,et al.  Dynamic mission planning for multiple mobile robots , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[6]  Chengtao Cai,et al.  Collision Avoidance in Multi-Robot Systems , 2007, 2007 International Conference on Mechatronics and Automation.