In agent based systems, especially in autonomous mobile robots, modelling the environment and its changes is a source of problems. It is not always possible to effectively model the uncertainity and the dynamic changes in complex, real-world domains. Control systems must be robust to changes and must be able to handle these uncertainties to overcome this problem. In this study, a reactive behaviour based agent control system is modelled and implemented. The control system is tested in a navigation task using an environment, which has randomly placed obstacles and a goal position to simulate an environment similar to an autonomous robot&rsquo / s indoor environment. Then the control system was extended to control an agent in a multi-agent environment. The main motivation of this study is to design a control system which is robust to errors and easy to modify. Behaviour based approach with the advantages of fuzzy reasoning systems is used in the system.
Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12605743/index.pdf |
Date | 01 January 2005 |
Creators | Arslan, Dilek |
Contributors | Alpaslan, Ferda Nur |
Publisher | METU |
Source Sets | Middle East Technical Univ. |
Language | English |
Detected Language | English |
Type | M.S. Thesis |
Format | text/pdf |
Rights | To liberate the content for public access |
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