Mapas cognitivos fuzzy dinâmicos aplicados na exploração de ambientes desconhecidos inspirados em robótica de enxame
This work proposes the study of the use of Dynamic Fuzzy Cognitive Maps (DFCM) for the coordination of robots in a multi-agent system (SMA), inspired by swarm robotics and agent architecture, especially the subsumption architecture of Brooks. The modeling is done through the DFCM and the agents must...
| Autor principal: | Kondo, Henrique Seiti |
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| Formato: | Trabalho de Conclusão de Curso (Graduação) |
| Idioma: | Português |
| Publicado em: |
Universidade Tecnológica Federal do Paraná
2022
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| Assuntos: | |
| Acesso em linha: |
http://repositorio.utfpr.edu.br/jspui/handle/1/27060 |
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| Resumo: |
This work proposes the study of the use of Dynamic Fuzzy Cognitive Maps (DFCM) for the coordination of robots in a multi-agent system (SMA), inspired by swarm robotics and agent architecture, especially the subsumption architecture of Brooks. The modeling is done through the DFCM and the agents must explore semi or totally unknown environments. The tests for this study were simulated, but are performed in different environments through MatLab® software to verify the autonomy and validate the proposed architecture. The work compares the results obtained with simulations made with Fuzzy Logic Controller (FLC) used by SOARES et al. (2017), in order to verify its low computational cost. This work contributes to the development of other works that can use the DFCM. |
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