Abstract:This research focuses on the performance of the obstacle avoidance feature implemented on a wheeled mobile robot by using Sugeno Fuzzy Inference System (FIS). The test was done using a simulation software Webots and the layout was first draft out using walls, floors, and objects in order to set a boundary and obstacles for the simulation. To test the effectiveness and efficiency in terms of time and distance, the simulation time and trajectory of the Khepera implementing the Sugeno FIS was recorded and compare… Show more
“…The effectiveness and robustness of multi-agent robot systems (MARS) [1][2][3][4] in carrying out tasks as compared to single agent [5][6][7] has led to an expansion in the MARS research. The advantages of having MARS that may increase the flexibility and scalability as well as reduce load among agents, makes cooperative MARS research still active until present day.…”
Section: Introduction 11 Motivation Of the Researchmentioning
Finding consensus is one of the most important tasks in multi-agent robot motion coordination research, especially in a communication environment. This justification underlies the use of event-triggered controller in current multi-agent consensus research. However, the communication issue has not been adequately addressed in a broadcast communication environment for rendezvous applications. Therefore, the broadcast event-triggered (BET) controller with a new formulation was designed using the Simultaneous Perturbation Stochastic Algorithm (SPSA). Theorems and relevant proofs were presented. Agent performances with the BET controller were evaluated and compared with the conventional broadcast time-triggered (BTT) controller. The results showed an effective motion generated by a multi-agent robot to reach the rendezvous point based on the Bernoulli distribution and gradient approximation of the agent local controller. The BET controller has proven to work more efficiently than the BTT controller when it reaches convergence in less than 40.42% of time and 21.00% of iterations on average. The utilization of communication channels is slightly reduced for BET, which is 71.09% usage instead of fully utilized by BTT. The threshold value of the event-triggered function (ETF) and SPSA parameters affected agent performances. Future research may consider using an effective and efficient BET controller in a complex communication environment with many variations of graph topology networks.
“…The effectiveness and robustness of multi-agent robot systems (MARS) [1][2][3][4] in carrying out tasks as compared to single agent [5][6][7] has led to an expansion in the MARS research. The advantages of having MARS that may increase the flexibility and scalability as well as reduce load among agents, makes cooperative MARS research still active until present day.…”
Section: Introduction 11 Motivation Of the Researchmentioning
Finding consensus is one of the most important tasks in multi-agent robot motion coordination research, especially in a communication environment. This justification underlies the use of event-triggered controller in current multi-agent consensus research. However, the communication issue has not been adequately addressed in a broadcast communication environment for rendezvous applications. Therefore, the broadcast event-triggered (BET) controller with a new formulation was designed using the Simultaneous Perturbation Stochastic Algorithm (SPSA). Theorems and relevant proofs were presented. Agent performances with the BET controller were evaluated and compared with the conventional broadcast time-triggered (BTT) controller. The results showed an effective motion generated by a multi-agent robot to reach the rendezvous point based on the Bernoulli distribution and gradient approximation of the agent local controller. The BET controller has proven to work more efficiently than the BTT controller when it reaches convergence in less than 40.42% of time and 21.00% of iterations on average. The utilization of communication channels is slightly reduced for BET, which is 71.09% usage instead of fully utilized by BTT. The threshold value of the event-triggered function (ETF) and SPSA parameters affected agent performances. Future research may consider using an effective and efficient BET controller in a complex communication environment with many variations of graph topology networks.
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