Multi-agent system based fuzzy controller design with genetic tuning for a service mobile manipulator robot in the hand-over task

Date

2002-01-01

Author

Erden, Mustafa Suphi
Leblebicioglu, Kemal
Halıcı, Uğur

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Copyright © 2002 IFAC.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 fuzzy rules of each agent are written considering the state of other agents besides its own state. While writing the rules effective delivery and avoiding the contact with human not to cause physical harm is considered. The membership functions of the fuzzy controllers are tuned using genetic algorithms. In tuning, the performance is calculated considering the deviation from the optimum 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.

Subject Keywords

Agents , Distributed control, Fuzzy control, Genetic algorithms, Membership functions, Delivery systems, Robot arm

URI

https://hdl.handle.net/11511/57285

DOI

https://doi.org/10.3182/20020721-6-es-1901.00896

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Multi-agent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task Erden, MS; Leblebicioğlu, Mehmet Kemal; Halıcı, Uğur (Springer Science and Business Media LLC, 2004-03-01) 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 ...
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Citation Formats

M. S. Erden, K. Leblebicioglu, and U. Halıcı, “Multi-agent system based fuzzy controller design with genetic tuning for a service mobile manipulator robot in the hand-over task,” 2002, vol. 15, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/57285.