Comparison of Cooperative Behaviors in Multiple Robots and Fuzzy Logic Approach

Abstract

Today, cumbersome and costly robotic systems are used for many complex tasks in terms of hardware and operating speed. Instead, the work on performing the same complex tasks as the systems consisting of smaller and simpler robots reveals the multiple robotics, a sub-branch of robotics. The first solution model for the multiple agents flocking behaviors is the Boids algorithm prepared by Reynolds. The Boids algorithm is defined as the combination of cohesion, dispersion and align rules for each agent and application for individuals. Unlike other studies, a fuzzy-collaborative algorithm was designed in this study and it was aimed to perform both flock and formation behaviors. Within the scope of the aim; individual, cooperative and fuzzy-collaborative flocking and formation of multiple robots were examined and the performance of the fuzzy-cooperative algorithm was tested. In the study, robot and task algorithms used in simulation environment are presented and simulation results are given. According to the findings, the fuzzy flocking algorithm is faster and requires less communication cycle than the Boids algorithm.

C1 [Seckin, Ahmet Cagdas] Usak Univ, Elekt & Otomasyon Bolumu, Tekn Bilimler Meslek Yuksek Okulu, Usak, Turkey.

[Ozek, Ahmet; Karpuz, Ceyhun] Pamukkale Univ, Elekt Elekt Muh Bolumu, Muhendislik Fak, Denizli, Turkey.