Accuracy preserving interpretability by a hierarchical fuzzy multiagent design for mobile robot controller

This paper proposes an innovative multiagent design for fuzzy controller of a multisensory Khepera II mobile robot. Undeniably, the reactions' speed, the precision in motion and how easy to understand these reactions are the main criteria for such a fuzzy controller. Indeed, an agentification o...

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Bibliographic Details
Main Authors: Kammoun, H. M., Kallel, I., Alimi, A. M.
Format: Conference Proceeding
Language:English
Subjects:
accuracy
hierarchical fuzzy
interpretability
Khepera
multiagent controller
Online Access:Request full text
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Summary:This paper proposes an innovative multiagent design for fuzzy controller of a multisensory Khepera II mobile robot. Undeniably, the reactions' speed, the precision in motion and how easy to understand these reactions are the main criteria for such a fuzzy controller. Indeed, an agentification of sensors and distribution of control over several cooperative fuzzy-agents are the strategic points for the proposed model. An implementation followed by a series of simulations of the Khepera navigational behavior, allowed us to test and discuss the efficiency of the fuzzy-multiagent design on the accuracy preserving the interpretability for the problem of obstacle avoidance in unknown and dynamic environment.
DOI:10.1109/ICIES.2012.6530868