대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1999년도 하계학술대회 논문집 G
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- Pages.3024-3026
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- 1999
다 개체 시스템의 협동 행동제어기
Cooperative Action Controller of Multi-Agent System
- Kim, Young-Back (Dept. of Electrical Eng. Pusan National Univ.) ;
- Jang, Hong-Min (Dept. of Electrical Eng. Pusan National Univ.) ;
- Kim, Dae-Jun (Dept. of Electrical Eng. Pusan National Univ.) ;
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Choi, Young-Kiu
(Dept. of Electrical Eng. Pusan National Univ.) ;
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Kim, Sung-Shin
(Dept. of Electrical Eng. Pusan National Univ.)
- 발행 : 1999.07.19
초록
This paper presents a cooperative action controller of a multi-agent system. To achieve an object, i.e. win a game, it is necessary that a robot has its own roles, actions and work with each other. The presented incorporated action controller consists of the role selection, action selection and execution layer. In the first layer, a fuzzy logic controller is used. Each robot selects its own action and makes its own path trajectory in the second layer. In the third layer, each robot performs their own action based on the velocity information which is sent from main computer. Finally, simulation shows that each robot selects proper roles and incorporates actions by the proposed controller.
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