Cooperative Carrying Control for Multi-Evolutionary Mobile Robots in Unknown Environments

摘要

This study provides an effective cooperative carrying and navigation control method for mobile robots in an unknown environment. The manager mode switches between two behavioral control modes—wall-following mode (WFM) and toward-goal mode (TGM)—based on the relationship between the mobile robot and the unknown environment. An interval type-2 fuzzy neural controller (IT2FNC) based on a dynamic group differential evolution (DGDE) is proposed to realize the carrying control and WFM control for mobile robots. The proposed DGDE uses a hybrid method that involves a group concept and an improved differential evolution to overcome the drawbacks of the traditional differential evolution algorithm. A reinforcement learning strategy was adopted to develop an adaptive WFM control and achieve cooperative carrying control for mobile robots. The experimental results demonstrated that the proposed DGDE is superior to other algorithms at using WFM control. Moreover, the experimental results demonstrate that the proposed method can complete the task of cooperative carrying, and can realize navigation control to enable the robot to reach the target location.