Hierarchical Control Approach for Autonomous Mobile Robots

1970 ◽  
Vol 110 (4) ◽  
pp. 101-104 ◽  
Author(s):  
T. Proscevicius ◽  
A. Bukis ◽  
V. Raudonis ◽  
M. Eidukeviciute

Methods for intelligent mobile robots control which are based on principles of hierarchical control systems will be reviewed in this article. Hierarchical intelligent mobile robots are new direction for development of robotics, which have wide application perspectives. Despite increasing progress in technologies, the main problem of autonomous mobile robots development is that, they are ineffective in their control. In each of the hierarchical control levels (movement in space, problems solving and signal processing sets) will define by specific management of objectives, goals and rules. Communication and management between hierarchies are implemented by higher level of hierarchy using obtained information about the environment and lover level of hierarchy. Studies have shown that artificial neural networks, fuzzy logic are widely used for the development of the hierarchical systems. The main focus of the work is on communications in hierarchy levels, since the robot must be controlled in real time. Ill. 4, bibl. 13 (in English; abstracts in English and Lithuanian).http://dx.doi.org/10.5755/j01.eee.110.4.298

2012 ◽  
Vol 9 (2) ◽  
pp. 53-57 ◽  
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov

The main stages of solving the problem of planning movements by mobile robots in a non-stationary working environment based on neural networks, genetic algorithms and fuzzy logic are considered. The features common to the considered intellectual algorithms are singled out and their comparative analysis is carried out. Recommendations are given on the use of this or that method depending on the type of problem being solved and the requirements for the speed of the algorithm, the quality of the trajectory, the availability (volume) of sensory information, etc.


Author(s):  
Mahamat Loutfi Imrane ◽  
Achille Melingui ◽  
Joseph Jean Baptiste Mvogo Ahanda ◽  
Fredéric Biya Motto ◽  
Rochdi Merzouki

Some autonomous navigation methods, when implemented alone, can lead to poor performance, whereas their combinations, when well thought out, can yield exceptional performances. We have demonstrated this by combining the artificial potential field and fuzzy logic methods in the framework of mobile robots’ autonomous navigation. In this article, we investigate a possible combination of three methods widely used in the autonomous navigation of mobile robots, and whose individual implementation still does not yield the expected performances. These are as follows: the artificial potential field, which is quick and easy to implement but faces local minima and robustness problems. Fuzzy logic is robust but computationally intensive. Finally, neural networks have an exceptional generalization capacity, but face data collection problems for the learning base and robustness. This article aims to exploit the advantages offered by each of these approaches to design a robust, intelligent, and computationally efficient controller. The combination of the artificial potential field and interval type-2 fuzzy logic resulted in an interval type-2 fuzzy logic controller whose advantage over the classical interval type-2 fuzzy logic controller was the small size of the rule base. However, it kept all the classical interval type-2 fuzzy logic controller characteristics, with the major disadvantage that type-reduction remains the main cause of high computation time. In this article, the type-reduction process is replaced with two layers of neural networks. The resulting controller is an interval type-2 fuzzy neural network controller with the artificial potential field controller’s outputs as auxiliary inputs. The results obtained by performing a series of experiments on a mobile platform demonstrate the proposed navigation system’s efficiency.


2008 ◽  
Vol 17 (3) ◽  
pp. 365-376 ◽  
Author(s):  
Abdoul-Fatah Kanta ◽  
Ghislain Montavon ◽  
Michel Vardelle ◽  
Marie-Pierre Planche ◽  
Christopher C. Berndt ◽  
...  

2021 ◽  
Vol 92 ◽  
pp. 79-93
Author(s):  
N. G. Topolsky ◽  
◽  
S. Y. Butuzov ◽  
V. Y. Vilisov ◽  
V. L. Semikov ◽  
...  

Introduction. It is important to have models that adequately describe the relationship between the integral indicators of the functioning of the system with the particular indicators of the lower levels of management in complex control systems, in particular in RSChS. Traditional approaches based on normative models often turn out to be untenable due to the impossibility of covering all aspects of the functioning of such systems, as well as due to the high variability of the environment and the values of the set of target indicators. Recently, adaptive machine-learning models have proven to be productive, allowing build stable and adequate models, one of the variants of which is artificial neural networks (ANN), based on the solution of inverse problems using expert estimates. The relevance of the study lies in the development of compact models that allow assessing the effectiveness of the functioning of complex multi-level control systems (RSChS) in emergency situations, developing according to complex scenarios, in which emergencies of various types can occur simultaneously. Goals and objectives. The purpose of the article is to build and test the technology for creating compact models that are adequate to the system of indicators of the functioning of hierarchically organized control systems. This goal gives rise to the task of choosing tools for constructing the necessary models and sources of initial data. Methods. The research tools include methods for analyzing hierarchical systems, mathematical statistics, machine learning methods of ANN, simulation modeling, expert assessment methods, software systems for processing statistical data. The research is based on materials from domestic and foreign publications. Results and discussion. The proposed technology for constructing a neural network model of the effectiveness of the functioning of complex hierarchical systems provides a basis for constructing dynamic models of this type, which make it possible to distribute limited financial and other resources during the operation of the system according to a complex scenario of emergency response. Conclusion. The paper presents the results of solving the problem of constructing an ANN and its corresponding nonlinear function, reflecting the relationship between the performance indicators of the lower levels of the hierarchical control system (RSChS) with the upper level. The neural network model constructed in this way can be used in the decision support system for resource management in the context of complex scenarios for the development of emergency situations. The use of expert assessments as an information basis makes it possible to take into account numerous target indicators, which are extremely difficult to take into account in other ways. Keywords: emergency situations, hierarchical control system, efficiency, artificial neural network, expert assessments


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