An intelligent multi-agent system for mobile robots navigation and parking

In this paper, the distributed intelligent motion control of mobile robots is considered. A multi-functional-agent system is proposed. It is named Intelligent System for Autonomous Robots. This system deals with the modeling, planning, and coordination functions of a mobile robot. This system is a cooperative model, composed of a main control kernel agent. Other agents constituting the system are: a learning-navigation agent allows safe-trajectory generation, and permit the robot to move towards a goal in a restricted environment. It uses an adaptive neural algorithm to learn and store successful robot motions. The third agent deals with the localization and map-updating functions for the robot. The fourth agent is dedicated to Communication, Management and Coordination tasks. Finally, a Fuzzy Maneuvering and Parking Agent is devoted to maneuvers and parking tasks. The developed system has been simulated and first results are very encouraging.