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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Fuzzy controller for cooperative object pushing with variable line contact
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Fuzzy controller for cooperative object pushing with variable line contact

机译：变线接触协同推物体的模糊控制器

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摘要

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.
机译：在诸如多机器人对象操纵系统之类的多机器人系统中设计适当的协作协议是一项艰巨的任务。在本文中，研究了设计和实现两个将对象推向任意目标配置的机器人之间的协作协议。所提出的方法得益于任务解耦，简化了协作协议的设计。每个机器人都独立地从特定的模糊推理系统获得适当的动作。模糊控制器的输出是低级机器人命令，从而消除了对机器人路径规划算法的需求。仿真结果表明，机器人可以协同将物体推向目标配置。已经进行了实验以批准该提议的系统。

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