Hybrid control architecture for navigation of autonomous mobile robots
type: CreativeWork
description: This thesis is concerned with the development, design and implementation of a novel hybrid multi-agent orientated control architecture for navigation of multiple autonomous mobile robots operating in an unknown and unstructured environment populated by static and/or dynamic obstacles. The proposed hybrid control architecture is modular and draws its design from competitive tasks architecture, production rules architecture, connectionist architecture, dynamic system architecture, multi-agent architecture and subsumption architecture. The reasoning of the control architecture is both deliberative and reactive. The proposed reactive behaviours are modelled using fuzzy logic, neural networks and hybrid behavioural encoding incorporating stateflow-fuzzy logic and stateflow-neural networks. The deliberative system is comprised of finite state machines. The processing is achieved in a centralised and/or decentralised manner using the proposed controller-agent concept from the field of multi-agent systems. The framework of the control architecture is suitable for adaptation in single and multiple robot navigation. The control architecture has been implemented in MATLAB/Simulink using the full non-linear model of the MIABOT V2 mobile robots. It is evaluated incrementally in order to verify its overall control performance and the performance of each subsystem. Results show that the control architecture's modularity, distribution, reactivity and behaviour based structure provided the overall control system with robustness in all cases of navigation tasks utilising either single or multiple mobile robots. Furthermore the results obtained show the effectiveness of the control architecture in navigation tasks involving up to five mobile robots operating in unknown static and dynamic environments. The results demonstrate that the control strategy chosen for navigation of multiple mobile robots is efficient and also established the robustness of the control system architecture agai…
abstract: This thesis is concerned with the development, design and implementation of a novel hybrid multi-agent orientated control architecture for navigation of multiple autonomous mobile robots operating in an unknown and unstructured environment populated by static and/or dynamic obstacles. The proposed hybrid control architecture is modular and draws its design from competitive tasks architecture, production rules architecture, connectionist architecture, dynamic system architecture, multi-agent architecture and subsumption architecture. The reasoning of the control architecture is both deliberative and reactive. The proposed reactive behaviours are modelled using fuzzy logic, neural networks and hybrid behavioural encoding incorporating stateflow-fuzzy logic and stateflow-neural networks. The deliberative system is comprised of finite state machines. The processing is achieved in a centralised and/or decentralised manner using the proposed controller-agent concept from the field of multi-agent systems. The framework of the control architecture is suitable for adaptation in single and multiple robot navigation. The control architecture has been implemented in MATLAB/Simulink using the full non-linear model of the MIABOT V2 mobile robots. It is evaluated incrementally in order to verify its overall control performance and the performance of each subsystem. Results show that the control architecture's modularity, distribution, reactivity and behaviour based structure provided the overall control system with robustness in all cases of navigation tasks utilising either single or multiple mobile robots. Furthermore the results obtained show the effectiveness of the control architecture in navigation tasks involving up to five mobile robots operating in unknown static and dynamic environments. The results demonstrate that the control strategy chosen for navigation of multiple mobile robots is efficient and also established the robustness of the control system architecture agai…
author: Mouzakitis , Alexandros
language: eng
keywords: Robotics, Control Engineering
date published: 2002-8
date modified: 2026-07-24T04:38:59Z
provider: University of South Wales
publisher: Networked Digital Library of Theses and Dissertations
type: WebPage
source organization: University of South Wales