Journal
INFORMATION SCIENCES
Volume 187, Issue -, Pages 33-51Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.ins.2011.10.007
Keywords
Bio-inspired computing; Membrane systems; Numerical P system; Membrane controller; Mobile robot; Simulation
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Funding
- CNCSIS UEFISCSU [PNII IDEI 1692/2008]
- Sectorial Operational Programme Human Resources Development (SOP HRD)
- European Social Fund
- Romanian Government [SOP HRD/107/1.5/S/82514]
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The main contribution of this paper is the introduction of the new concept of membrane controller based on the structure and functioning of a deterministic numerical P system. The procedure for developing a membrane controller and for using it to control a mobile robot is explained and several test cases are given in which membrane controllers are used to control both simulated and real mobile robots and to generate various desired behaviours (obstacle avoidance, wall following, and follow the leader). The experiments reported in this paper validate the concept and prove that the performance of a membrane controller is comparable to or better than that of other controllers (such as fuzzy logic controllers). (C) 2011 Elsevier Inc. All rights reserved.
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