In this paper, a hybrid approach is proposed combining flocking and Fuzzy Logic Control (FLC) approaches. The problem addressed is reaching a specific target position by a group of heterogeneous agents; Unmanned Aerial and Ground Vehicles, while maintaining a formation pattern for the group. The group of agents are controlled via a multi-layer control architecture where each layer is responsible for a specific task. The upper-level control layer consists of multiple subsystems for the decision making of both formation and trajectory tracking problems. Two flocking-based sub-agents are utilized for solving the two aforementioned problems in this control level. Alpha agent is for keeping formation pattern, while reaching a desired target is achieved using Gamma agent. The two sub-agents work on generating the desired reference points to be tracked by the agents. These generated reference points are considered for the second layer; Intermediate-control level, where the agents are controlled to track the point, actuated via Fuzzy Logic Control (FLC) layer. The Control efforts exerted from the FLC are used to actuate the agents in the low-level control layer on Gazebo simulator UAVs and UGVs models. The whole hybrid formation architecture is tested through a Robotics Operating System (ROS)-enabled architecture. Several scenarios are tested showing promising results in solving the addressed problem.
Fuzzified Flocking Based Formation ROS-enabled Architecture of Heterogeneous Multi-Agent Systems
2019-09-01
4217755 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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