An Evolved Fuzzy Reactive Control System For Co-Operating Autonomous Robots

Autonomous robots operating in unstructured environments clearly require some capacity for adaptive behaviour. This paper presents a method for achieving an adaptive response based on a multi-layer control architecture. The primary level of control is composed of the Behaviour Synthesis Architecture [1] which is continuously modified by a secondary layer, composed of a Fuzzy Logic controller. The Fuzzy rule base adjusts the relative weighting (utility) of each behaviour to allow the robot to `focus' its response on the current sensory stimuli. This allows the robot to balance conflicting behaviours and goals in a dynamic environment. The Fuzzy rule base is evolved by genetic algorithms in a simulation of the robot and environment. The advantages of the genetic search algorithm are therefore combined with a set of high level rules and behaviours to resolve the conflicting dynamics of two co-operating robots. Keywords: Autonomous robots, Applied adaptive and collective behaviour. 1. In..