Cooperative control of multiple mobile robot using particle swarm optimization for tracking two passive target
This paper proposes a cooperative control method for multiple mobile robots to track two passive targets in unknown environment on the basis of a particle swarm optimization (PSO). By adjusting the left and right wheels speed of the mobile robot using the proposed control method, each mobile robot can move towards the target on the basis of information about the previous best location of each particle and its neighbors. The simulation results demonstrate the validity of the proposed cooperative control method of multiple mobile robots for tracking two passive targets.
Cooperative mobile robots with obstacle and collision avoidance using fuzzy logic
This paper presents a fuzzy controller technique in navigation with obstacle and collision avoidance for cooperative micro robots playing soccer. The dynamic positions of the robots and obstacles are taken into consideration. The information needed about the robot environment is the destination point, the distance between the robots, and obstacles and is taken from a camera vision system. The obstacles can be the opponent robots, the teammate robots, and the soccer field boundaries. Fuzzy logic is used to control the navigation of a robot as it avoids the presence of an obstacle along its way to the destination point. Obstacle and collision avoidance can be achieved by changing the direction angle of the robot. The cooperative behavior of the robots is tested based on team performance in playing the soccer game. The effectiveness of the technique developed is shown in the results of real time experiments. The fuzzy logic controller developed proves to be more accurate and robust compared to other conventional controllers.
Performance Evaluation of Fuzzy Routing Algorithms for a New Fuzzy Mixed Metric Approach
Optimizing routing decisions has been an important subject in research of communication networks. The present paper is introducing a new fuzzy mixed metric approach, which takes routing decisions based on fuzzy costs in parallel to crisp cost of other metrics. The present paper evaluates the new fuzzy approach for its performance. The paper first describes the new fuzzy approach and the fuzzy routing algorithms developed for the approach and then the performance is evaluated both in empirical and analytical terms to show its advantages over the previous fuzzy approaches and traditional link- state routing approach. The paper analyzes the performance for different cases to show the efficacy of load on delay. The present paper bargains with three such cases.