April 2022
Intermediate to advanced
256 pages
5h 31m
English
Content preview from Optimization and Machine Learning
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7Hybrid Approach based on Multi-agent System and Fuzzy Logic for Mobile Robot Autonomous Navigation
Khadidja YAHYAOUI
University of Mascara, Algeria
The design of a control architecture is a central problem in a project to realize an autonomous mobile robot. In the absence of a generic solution that overshadows all others, it is essential to come up with a new approach detailing the design process that will reach this goal. In this context, this chapter proposes to use the multi-agent paradigm and inference mechanism based on fuzzy logic in the design of the control architecture for the autonomous navigation of the mobile robot.
The architecture developed must take into account imposed constraints (obstacle avoidance, no collisions with the walls of the environment, unknown environment, optimal path, reaching the goal), actor-based system multi-agents and distributed non-hierarchical architecture built around several agents (databases knowledge), cognitive and reactive, that cooperate with each other to solve the problem of autonomous navigation of the mobile robot.
The method used allowed us to have an intelligent system capable of solving various problems produced during navigation.
7.1. Introduction
The industry mainly uses poorly autonomous robots to perform repetitive tasks with the aim of reducing production costs. Robots can be used in tasks that are dangerous for humans, such as those carried out in underground mines, chemical or nuclear installations, the underwater ...
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