Cooperative Avoidance Control-based Interval Fuzzy Kohonen Networks Algorithm in Simple Swarm Robots
Abstract: A novel technique to
control swarm robot’s movement is presented and analyzed in this paper. It
allows a group of robots to move as a unique entity performing the following
function such as obstacle avoidance at group level. The control strategy
enhances the mobile robot’s performance whereby their forthcoming decisions are
impacted by its previous experiences during the navigation apart from the
current range inputs. Interval Fuzzy-Kohonen Network (IFKN) algorithm is
utilized in this strategy. By employing a small number of rules, the IFKN
algorithms can be adapted to swarms reactive control. The control strategy
provides much faster response compare to Fuzzy Kohonen Network (FKN) algorithm
to expected events. The effectiveness of the proposed technique is also
demonstrated in a series of practical test on our experimental by using five
low cost robots with limited sensor abilities and low computational effort on
each single robot in the swarm. The results show that swarm robots based on
proposed technique have the ability to perform cooperative behavior, produces
minimum collision and capable to navigate around square shapes obstacles.
Author: Siti Nurmaini, Siti
Zaiton, Ricy Firnando
Journal Code: jptkomputergg140115
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