A PSO-based approach with fuzzy obstacle avoidance for cooperative multi-robots in unknown environments

Cooperative exploration in unknown environments is fundamentally important in robotics, where the realtime path planning and proper task allocation strategies are desirable for multi-robot cooperation. In this paper, a PSO-based approach, combined with a fuzzy obstacle avoidance module, is proposed for cooperative robots to accomplish the target searching tasks in unknown environments. The proposed cooperation strategy for a multi-robot system makes use of the potential field function as the fitness function of PSO, while the proposed fuzzy obstacle-avoidance method can improve the robot trajectory smoothness. In the simulation studies, various scenarios are investigated and compared to the method without fuzzy rules. The effectiveness of the proposed approach and the robot trajectory smoothness improvement are demonstrated by simulation and comparison studies.

[1]  Yixin Yin,et al.  An improved PSO for path planning of mobile robots and its parameters discussion , 2010, 2010 International Conference on Intelligent Control and Information Processing.

[2]  Elmer P. Dadios,et al.  Fira Middle-League robot Soccer Game Strategy , 2007, Control. Intell. Syst..

[3]  Ganesh K. Venayagamoorthy,et al.  Optimal PSO for collective robotic search applications , 2004, Proceedings of the 2004 Congress on Evolutionary Computation (IEEE Cat. No.04TH8753).

[4]  Alcherio Martinoli,et al.  Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization , 2007, 2007 IEEE Swarm Intelligence Symposium.

[5]  J. B. Park,et al.  Adaptive formation control in absence of leader's velocity information , 2010 .

[6]  Serkan Kiranyaz,et al.  Multi-dimensional particle swarm optimization for dynamic environments , 2008 .

[7]  Lakmal Seneviratne,et al.  Fuzzy control of non-linear systems using parameter-dependent polynomial fuzzy model , 2012 .

[8]  Seyed Hamidreza Mohades Kasaei,et al.  DEVELOPMENT A REAL-TIME COOPERATIVE BEHAVIOUR FOR AUTONOMOUS SOCCER ROBOTS BESED ON DECISION MAKING ALGORITHM , 2010 .

[9]  Haosong Yue,et al.  Output-feedback adaptive fuzzy control for a class of non-linear time-varying delay systems with unknown control directions , 2012 .

[10]  Lakmal Seneviratne,et al.  Stability analysis of polynomial fuzzy-model-based control systems under perfect/imperfect premise matching , 2011 .

[11]  Ellips Masehian,et al.  A multi-objective PSO-based algorithm for robot path planning , 2010, 2010 IEEE International Conference on Industrial Technology.

[12]  Maarouf Saad,et al.  Multi mobile robots formation in presence of obstacles , 2011, 2011 IEEE International Conference on Mechatronics.

[13]  Shan Jianhua.  Global Path Planning for Mobile Robot Based on Improved Particle Swarm Optimization , 2010 .

[14]  Dayal R. Parhi,et al.  Behavior-based navigation of multiple robotic agents using hybrid-fuzzy controller , 2010, 2010 International Conference on Computer and Communication Technology (ICCCT).