Journal
SENSORS AND MATERIALS
Volume 30, Issue 11, Pages 2499-2516Publisher
MYU, SCIENTIFIC PUBLISHING DIVISION
DOI: 10.18494/SAM.2018.2052
Keywords
mobile robot; cooperative carrying; reinforcement learning; differential evolution
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In this study, we propose an effective cooperative carrying method for mobile robots in an unknown environment. During the carrying process, the state manager (SM) switches between wall-following carrying (WFC) and toward-goal carrying (TGC) to avoid obstacles and prevent the objects from dropping. An interval type-2 recurrent fuzzy cerebellar model articulation controller (IT2RFCMAC) based on dynamic group differential evolution (DGDE) is proposed for implementing the WFC and TGC of mobile robots. The adaptive wall-following control is developed using the reinforcement learning strategy to realize cooperative carrying control for mobile robots. The experimental results indicated that the proposed DGDE is superior to other algorithms and can complete the cooperative carrying of mobile robots to reach the goal location.
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