Implementation of the Obstacle Avoidance Algorithm of Autonomous Mobile Robots by Clustering

클러스터링에 의한 자율 이동 로봇의 장애물 회피 알고리즘

In this paper, Fundamental rules governing group intelligence "obstacle avoidance" behavior of multiple autonomous mobile robots are represented by a small number of fuzzy rules. Complex lifelike behavior is considered as local interactions between simple individuals under small number of fundamental rules. The fuzzy rules for obstacle avoidance are generated from clustering the input-output data obtained from the obstacle avoidance algorithm. Simulation shows the fuzzy rules successfully realizes fundamental rules of the obstacle avoidance behavior.