Intelligent Multirobot Navigation and Arrival-Time Control Using a Scalable PSO-Optimized Hierarchical Controller

Intelligent Multirobot Navigation and Arrival-Time Control Using a Scalable PSO-Optimized Hierarchical Controller

We present a hierarchical fuzzy logic system for precision coordination of multiple mobile agents such that they achieve simultaneous arrival at their destination positions in a cluttered urban environment. We assume that each agent is equipped with a 2D scanning Lidar to make movement decisions bas...

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Bibliographic Details
Main Authors: Yu-Cheng Chang, Anna Dostovalova, Chin-Teng Lin, Jijoong Kim
Format: Article
Language:English
Published: Frontiers Media S.A. 2020-08-01
Series:Frontiers in Artificial Intelligence
Subjects:
hierarchical fuzzy system
fuzzy logic control
multi-agent control
navigation
arrival-time control
Online Access:https://www.frontiersin.org/article/10.3389/frai.2020.00050/full

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