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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >Multi-Agent System-Based Fuzzy Controller Design with Genetic Tuning for a Mobile Manipulator Robot in the Hand Over Task
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Multi-Agent System-Based Fuzzy Controller Design with Genetic Tuning for a Mobile Manipulator Robot in the Hand Over Task

机译：基于多智能系统遗传控制的移动机械手交接任务模糊控制器设计

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This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The control variables of the controllers are linear velocity of the base, angular velocity of the elbow, and angular velocity of the shoulder. Main inputs to the system are the horizontal and vertical distances between the human and robot hands. These are input to all three agents. In developing the fuzzy control rules, effective delivery and avoidance of contact with humans, not to cause physical damage, are considered. The membership functions of the fuzzy controllers are tuned by using genetic algorithms. In tuning, the performance is calculated considering the distance deviation from the direct path, time spent to reach the human hand and energy consumed by the actuators. The proposed multi-agent system structure based on fuzzy control for the object delivery task succeeded in both effective and safe delivery.
机译：本文介绍了多主体系统方法在服务移动机械手机器人中的应用，该机器人在二维的对象交付和移交任务过程中与人进行交互。机器人的底部，肘部和肩膀被识别为三种不同的主体，并使用模糊控制对其进行控制。控制器的控制变量是底座的线速度，肘部的角速度和肩部的角速度。系统的主要输入是人和机器人手之间的水平和垂直距离。这些输入到所有三个代理。在制定模糊控制规则时，要考虑有效交付和避免与人接触，以免造成物理损坏。模糊控制器的隶属度函数通过遗传算法进行调整。在调整时，性能的计算要考虑到与直接路径的距离偏差，到达人手所花费的时间以及执行器消耗的能量。所提出的基于模糊控制的多主体系统结构完成了目标交付任务，既成功又安全。

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