Multi-behaviors coordination controller design with enzymatic numerical P systems for robots

Wang, Xueyuan; Zhang, Gexiang; Gou, Xiantai; Paul, Prithwineel; Neri, Ferrante; Rong, Haina; Yang, Qiang; Zhang, Hua

Abstract

Membrane computing models are parallel and distributed natural computing models. These models are often referred to as P systems. This paper proposes a novel multi-behaviors coordination controller model using enzymatic numerical P systems for autonomous mobile robots navigation in unknown environments. An environment classifier is constructed to identify different environment patterns in the maze-like environment and the multi-behavior coordination controller is constructed to coordinate the behaviors of the robots in different environments. Eleven sensory prototypes of local environments are presented to design the environment classifier, which needs to memorize only rough information , for solving the problems of poor obstacle clearance and sensor noise. A switching control strategy and multi-behaviors coordinator are developed without detailed environmental knowledge and heavy computation burden, for avoiding the local minimum traps or oscillation problems and adapt to the unknown environments. Also, a serial behaviors control law is constructed on the basis of Lyapunov stability theory aiming at the specialized environment, for realizing stable navigation and avoiding actuator saturation. Moreover, both environment classifier and multi-behavior coordination controller are amenable to the addition of new environment models or new behaviors due to the modularity of the hierarchical architecture of P systems. The simulation of wheeled mobile robots shows the effectiveness of this approach.

Citation

Wang, X., Zhang, G., Gou, X., Paul, P., Neri, F., Rong, H., …Zhang, H. (2021). Multi-behaviors coordination controller design with enzymatic numerical P systems for robots. Integrated Computer-Aided Engineering, 28(2), 119-140. https://doi.org/10.3233/ica-200627

• Journal Article Type: Article
• Acceptance Date: Mar 31, 2020
• Online Publication Date: Apr 30, 2020
• Publication Date: Mar 5, 2021
• Deposit Date: Mar 31, 2020
• Publicly Available Date: Apr 30, 2020
• Journal: Integrated Computer-Aided Engineering
• Print ISSN: 1069-2509
• Electronic ISSN: 1875-8835
• Publisher: IOS Press
• Peer Reviewed: Peer Reviewed
• Volume: 28
• Issue: 2
• Pages: 119-140
• DOI: https://doi.org/10.3233/ica-200627
• Keywords: Membrane computing; reactive navigation; autonomous mobile robot; behaviors coordination
• Public URL: https://nottingham-repository.worktribe.com/output/4235917
• Publisher URL: https://content.iospress.com/articles/integrated-computer-aided-engineering/ica200627