Abstract
This paper describes the development of a Multi-Agent System (MAS), which is supported with fuzzy logic (to control the robots movements in a reactive path) and computer vision, which controls an autonomous mobile robot to exit a maze. The research consists of two stages. In the first stage the problem is to be able to make the robot exit a maze, the mobile robot is positioned at the entrance (point A) and should reach an output (B), it should be noted that we are working with a NXT robot to Lego MINDSTORMS ®. In its second phase the problem is to make the robot search for a recognized object, for this purpose a camera is used to capture images, which will be processed with vision techniques for identification, and after that, the SMA takes the decision to evade or take the object as appropriate.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Alanis, A.: Contribution to the design of Fault Tolerant Distributed Systems for industrial control: proposal for a new paradigm based on Intelligent Agents, PhD, Universidad Politecnica de Valencia (November 2007)
Alanis, A., López, M., Muñoz, R., Pulido, M., Martínez, P., Beltrán, M.: Multi-agent System for a Lego NXT robot to access the collaboration object 1.8 º. In: National Congress of Electrical and Electronics Engineering of the Mayab conieem 2008 Instituto Tecnológico de Mérida, of Merida, Yucatan, Mexico, April 21-25 (2008)
Alanis, A., López, M., Muñoz, R., Pulido, M., Martínez, P., Beltrán, M.: Multi-agent system for a Lego NXT robot to access the collaboration of objects 1, XXIX International Congress of Engineering in electronics, electro 2008, Instituto Tecnológico de Chihuahua, division of graduate studies and research, October 29-31, Chihuahua, Chih. Mexico (2008)
Alanis, A., López, M., Parra, B., Serrano, M., Ayala, E., Solano, C.: Multi-agent system for search and object recognition using vision, in a Lego NXT robot 1.8 º. National Congress of Electrical and Electronics Engineering of the Mayab conieem 2008 Instituto Tecnológico de Mérida, of Merida, Yucatan, Mexico, April 21-25 (2008)
Alanis, A., López, M., Parra, B., Serrano, M., Ayala, E., Solano, C.: Multi-agent system for search and object recognition using vision. In: A Lego NXT robot 1, XXIX International Congress of Engineering in electronics, electro 2008 Instituto Tecnologico de Chihuahua, division of graduate studies and research, Chihuahua, Chih. Mexico, October 29–31 (2008)
Aspiazu shock G.: Consejo Superior de Investigaciones Científicas, Madrid. Neural networks and genetic algorithms (2000)
Azam, F.: Biologically Inspired Modular Neural Networks. Electrical and Computer Engineering, Blacksburg, Virginia (2000)
Galván, R., Monsivais, A.: Resolution of mazes with Lego Mindstorms NXT with LabVIEW 7.1, thesis work ITT
Jang, J.-S.R., Sun, C.-T., Mizutani, E.: Neuro-Fuzzy and Soft Computing for computational approach to learning and machine intelligence. Prentice Hall, New Jersey (1997)
Jang, S.J., Mizutani, J.: Neuro-Fuzzy and soft computing: a computational approach to learning and machine intelligence. Prentice-Hall, Englewood Cliffs (1997)
López, A.: Program Development in Matlab, Matlab... no. Bulletin of the Cuban Society of Mathematics and Computer Science 2(2), 105–112 (2004)
Maček, K., Petrović, I., Siegwart, R.: A control method for stable and smooth path following of mobile robots. In: Proceedings of the 2nd European Conference on Mobile Robots - ECMR 2005, Ancona, Italy, September 7-10, pp. 128–133 (2005)
Melendez, A.: Control and monitoring reagent for a mobile robot using fuzzy logic, thesis work, ITT (August 2008)
Melendez, A., Castillo, O., Soria, J.: Reactive Control of a Mobile Robot in a Distributed Environment Using Fuzzy Logic. In: NAFIS (2008)
Morgan, D.P., Scofield, C.L.: Neural Networks and Speech Processing. Kluwer Academic Publishers, Dordrecht (1991)
Norving, P., Russell, S.: Artificial intelligence a modern approach. Prentice-Hall, Australia (1996)
Or Etzioni, Lesh N., Segal, R.: Bulding for Softbots UNIX (preliminary report). Tech. Report 93-09-01. Univ. of Washington, Seattle (1993)
Cohen, P.R., et al.: An Open Agent Architecture, working Notes of the AAAI Spring symp.: Software Agent, pp. 1–8. AAAI Press, Cambridge (1994)
Russell, S., Norvig, P.: Intelligent Agent. In: Artificial Intelligence to Modern Aproach. Pretence artificial Hall series in intelligence, pp. 31–52 (1994)
Sánchez, P.: Voice and image recognition by neural networks to guide a robot, thesis work ITT (October 2008)
Sánchez, P., Melin, P., López, M.A.: Hybrid Neural-Based Guiding System for Mobile Robots. In: NAFIS 2008 (2008)
Suárez, J.: Location and tracking of trajectories with robots Wayfarer in natural surroundings, thesis work Universidad Complutense de Madrid
University of Vigo, Department of Computer Science, Problems of search and optimization (October 2004)
Zadeh, L.A.: Outline of a new approach to the analysis of complex systems and decision processes. IEEE Transactions on Systems, Man, and Cybernetics 31(6), 891–901 (2001)
Zadeh, L.A.: The concept of a linguistic variable and its application to approximate reasoning, Parts 1, 2, and 3. Information Sciences (1975)
Intelligent Autonomous Robots are the new generation (September 03, 2008), http://www.tendencias21.net/Los-Robots-Inteligentes-Autonomos-son-la-nueva-generacion_a744.html
Introduction to intelligent control (September 03, 2008), http://isa.umh.es/isa/es/asignaturas/cas/TRANSPCI.PDF
What is Simulink? (September 04, 2008), http://voltio.ujaen.es/jaguilar/matlab/Manual20Matlab_Simulink/manual%%20simulink/SIM_01%20-%20Que_%20es.htm
Simulation of a fuzzy system for controlling engine speed of a CD (September 08, 2008), http://www.uaem.mx/cicos/memorias/3ercic2004/Articulos/articulo3.pdf
fuzzy systems (September 08, 2008), http://ants.dif.um.es/staff/juanbot/ml/files/20022003/fuzzy.pdf
Control of local mobile robots based on statistical methods and genetic algorithms (October 01, 2008), http://www.dccia.ua.es/ria/artics/caepia97.pdf
The NXT Bluetooth C + + library (October 06, 2008), http://www.norgesgade14.dk/bluetoothlibrary.php
Embedded Coder Robot NXT (October 06, 2008), http://www.mathworks.com/matlabcentral/fileexchange/loadFile.do?objectId=13399
Tools for programming free agents (October 13, 2008), http://torio.unileon.es/~vmo/pubs/waf00.pdf
Analysis and design of reinforced learning agents (October 13, 2008), http://www.itcm.edu.mx/mccc06/publicaciones/Analisisydise%F1odeagentes.pdf
An architecture for mobile robots small (October 13, 2008), http://igarrido.vtrbandaancha.net/papers/gbot_arquitectura.pdf
Class diagrams, UML artifacts (October 22, 2008), http://www.vico.org/aRecursosPrivats/UML_TRAD/talleres/mapas/UMLTRAD_101A/LinkedDocuments/UML_diagClases.pdf
Maldonado, O.: Republic of Knowledge, Computer Vision, http://www.depi.itch.edu.mx/apacheco/expo/html/ai11/vision.html#page3
Salinas, R.: Neural Network Architecture Parametric Face Recognition, University of Santiago de Chile, http://cabierta.uchile.cl/revista/17/articulos/pdf/paper4.pdf
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Solano-Aragón, C., Alanis, A. (2009). A Multi-agent Architecture for Controlling Autonomous Mobile Robots Using Fuzzy Logic and Obstacle Avoidance with Computer Vision. In: Melin, P., Kacprzyk, J., Pedrycz, W. (eds) Bio-inspired Hybrid Intelligent Systems for Image Analysis and Pattern Recognition. Studies in Computational Intelligence, vol 256. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04516-5_14
Download citation
DOI: https://doi.org/10.1007/978-3-642-04516-5_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-04515-8
Online ISBN: 978-3-642-04516-5
eBook Packages: EngineeringEngineering (R0)