Mapas Cognitivos Fuzzy Dinâmicos Hierárquicos para arquitetura cooperativa de robótica móvel autônoma inspirada por SLAM e ACO/ Hierarchical Dynamic Fuzzy Cognitive Maps for autonomous mobile robotics cooperative architecture inspired by SLAM and ACO
DOI:
https://doi.org/10.34117/bjdv6n2-275Keywords:
Mapas Cognitivos Fuzzy Dinâmicos. Navegação Autônoma Cooperativa. Arquitetura de Subsunção. Sistemas Multiagentes. Lógica Fuzzy.Abstract
Este trabalho apresenta uma arquitetura de navegação robótica construída através de Mapas Cognitivos Fuzzy Dinâmicos e Hierárquicos (HD-FCM), uma evolução dos Mapas Cognitivos Fuzzy, aplicadas em navegação autônoma, em especial navegação autônoma cooperativa. A arquitetura proposta é inspirada na arquitetura de subsunção de Brooks devido ao gerenciamento hierárquico de funções e processamento paralelo, e em conceitos de técnicas de SLAM como Landmarks artificiais e recuperação de informações. Entretanto, a logística de operação é inspirada em Robótica Coletiva, em especial no comportamento de formigas para otimização de trajetória. Uma arquitetura de um controlador baseado HD-FCM é desenvolvida com vários níveis de funcionalidades, desde ações de baixo nível até o nível mais alto de gerenciamento, planejamento de ações, sintonia dinâmica do modelo. No último nível é inserido no modelo um compartilhamento de trajetória entre uma sequência agentes, através de uma memória de tráfego baseado em sistemas multiagentes, técnicas de SLAM e algoritmos bioinpirados.
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