Problem
Research questions and friction points this paper is trying to address.
multi-robot coordination
object transportation
unstructured environment
obstacle avoidance
path length minimization
Genetic Fuzzy System-Based Multi-Robot Coordination for Planetary Missions
🤖 AI Summary
This work addresses the challenges of prolonged trajectories and susceptibility to obstacles in multi-robot cooperative transport within unstructured planetary environments by proposing a decentralized genetic fuzzy control approach. The method first converts elevation maps into two-dimensional traversability maps through terrain traversability analysis and then employs a genetic algorithm-optimized fuzzy inference system to generate velocity commands for individual robots, enabling coordinated object transport without centralized control. Evaluated in complex scenarios featuring local minima and obstacles near the target, the proposed approach significantly reduces the total path length while effectively avoiding collisions, thereby demonstrating robustness and adaptability in dynamic and cluttered terrains.
📝 Abstract
This paper proposes a decentralized approach for a multi-robot system (MRS) using a genetic fuzzy system to perform a collaborative object transportation task that minimizes the total path length of the MRS in unstructured environment while avoiding obstacles. For an environment given by an elevation map, terrain traversability analysis with respect to the slope is performed to reduce the dimension and identify non-traversable areas that can be considered as obstacles, and the given map is converted into a traversability map in two dimensional space. In the training process, proposed fuzzy inference systems (FISs) to generate the MRS's velocity for transporting an object to a target position are optimized by a genetic algorithm with several scenarios, such as a local minima, a target that is close to an obstacle, and a cluttered environment. The trained FIS models are applied to the testing environment, which is the converted traversability map, and validated using multiple scenarios.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Genetic Fuzzy System
Multi-Robot Coordination
Traversability Mapping
Decentralized Control
Obstacle Avoidance
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