A foraging group of autonomous, mobile robots-implementation of hierarchical fuzzy behavior-based control

Abstract

A hierarchical, fuzzy, behavior-based algorithm has been implemented successfully for the control of a foraging group of robots. This algorithm enables hybridization of knowledge and behavior-based control. Distinct behaviors are weighed according to their applicability to the current control cycle using global knowledge. Combining fuzzy logic and behavior-based control increases the systems adaptability and robustness.