Paper Info
Title
Hybrid Fuzzy-MutiAgent planning for robust mobile robot motion
Abstract
This paper presents an intelligent hybrid system to support the planning for a mobile robot motion in unknown and dynamic environment. Called Fuzzy-MARCoPlan (Fuzzy-MultiAgent Remote Control motion Planning), this system optimizes the path by the introduction of sub-goals and through a multiagent cooperation based on fuzzy reasoning. In fact, we propose to agentify the surrounding zones of the robot; these zone agents compete for attracting the sub-goal. A planning agent, fortified with a fuzzy rule based system, decides on the best sub-goal to reach. Fuzzy-MARCoPlan is simulated and tested on several navigation environments which are generated randomly under the multiagent platform MadKit. These tests confirm the robustness of the proposed system in terms of path optimality in a dynamic environment. Moreover, the obtained results reinforce the advantage of a multiagent planning hybridized with fuzzy reasoning for mobile robot motion planning.
Year
DOI
Venue
2010
10.1109/FUZZY.2010.5584872
Fuzzy Systems
Keywords
DocType
ISSN
fuzzy reasoning,fuzzy set theory,fuzzy systems,knowledge based systems,mobile robots,multi-agent systems,path planning,telerobotics,fuzzy reasoning,fuzzy rule based system,fuzzy-MARCoPlan,fuzzy-multiagent remote control motion planning,intelligent hybrid system,multiagent cooperation,multiagent platform MadKit,planning agent,robust mobile robot motion
Conference
1098-7584
ISBN
Citations 
PageRank 
978-1-4244-6919-2
3
0.40
References 
Authors
13
4
Name
Order
Citations
PageRank
Sonia Kefi140.77
Habib M. Kammoun2162.73
Ilhem Kallel3121.65
Adel M. Alimi4818.88