Deployment of Software Agents and Application of Fuzzy Controller on the UWB Localization Based Mobile Robots

Abstract

Mobile robots allow us to achieve tasks independently from human intervention. Mobile robots follow their long-term goals according to a given way-point while observing the environment and reacting to the uncertain events around them. Therefore, a localization technology such as ultra-wide-band should be used to permit their movement along a path. Moreover, they can receive their goals from a remote terminal at any instant of time. Since these robots consist of the cyber, the physical and the network parts they can be inspected under the cyber-physical systems paradigm as well. The physical side describes the concrete form of the robot while the cyber part represents its software-based features. They can establish a network in order to achieve communication between that remote terminal. As these systems are quite complex because of their heterogeneity (multi-component), complexity (programming effort) and environmental changes (noisy or imprecise information), software agents can be a suitable paradigm to implement these systems from a higher abstraction level including communication capabilities while fuzzy-logic control (FLC) can be a way to deal with environmental effects. Specifically, the FLC for speed control can enhance and smoothen the capabilities of mobile robots while they are moving towards their locations compared to conventional controllers. In this study, LEGO Mindstorms EV3, Brick PI and JADE agents were used including fuzzy logic to create a mobile robot case study.