Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic

A decentralized fuzzy logic control system for one vehicle or for multiple robotic vehicles provides a way to control each vehicle to converge on a goal without collisions between vehicles or collisions with other obstacles, in the presence of noisy input measurements and a limited amount of compute...

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Bibliographic Details
Main Authors FEDDEMA JOHN T, KWOK KWAN S, DRIESSEN BRIAN J
Format Patent
LanguageEnglish
Published 23.04.2002
Edition7
Subjects
CONTROLLING
PHYSICS
REGULATING
SIGNALLING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TRAFFIC CONTROL SYSTEMS
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Summary:A decentralized fuzzy logic control system for one vehicle or for multiple robotic vehicles provides a way to control each vehicle to converge on a goal without collisions between vehicles or collisions with other obstacles, in the presence of noisy input measurements and a limited amount of compute-power and memory on board each robotic vehicle. The fuzzy controller demonstrates improved robustness to noise relative to an exact controller.
Bibliography:Application Number: US20000603568