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Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic

United States Patent

April 23, 2002
View the Complete Patent at the US Patent & Trademark Office
Sandia National Laboratories - Visit the Intellectual Property Management and Licensing Website
A decentralized fuzzy logic control system for one vehicle or for multiple robotic vehicles provides a way to control each vehicle to converge on a goal without collisions between vehicles or collisions with other obstacles, in the presence of noisy input measurements and a limited amount of compute-power and memory on board each robotic vehicle. The fuzzy controller demonstrates improved robustness to noise relative to an exact controller.
Feddema; John T. (Albuquerque, NM), Driessen; Brian J. (Albuquerque, NM), Kwok; Kwan S. (Albuquerque, NM)
Sandia Corporation (Albuquerque, NM)
09/ 603,568
June 23, 2000
This invention was made with Government support under Contract DE-AC04-94AL85000 awarded by the U.S. Department of Energy. The Government has certain rights in the invention.