Autonomous mobile intelligent robots on fuzzy system with optimal theories

Hong-yong Yang

Fu-zeng Zhang

pp. 24-32

in: Bing-yuan Cao, Cheng-yi Zhang, Tai-fu Li (eds), Fuzzy information and Engineering I, Berlin, Springer, 2009

Abstract

A dynamical model for autonomous mobile intelligent robots is presented. Based on the local information of the swarm, a fuzzy logical controller (FLC) of the attraction/ repulsion function is built. Combining with the rate consensus algorithm, the swarming of the separation, cohesion and alignment is achieved. Based on the optimal controller theories, a performance target is used to measure the states of the system. By applying the connected network from the individual local perceived information, the aggregation of the multi-agent systems can swarm following a whole consensus in the computer simulation.