Adaptive SOM-Based Fuzzy Neural Network Controller Design for Multi-Agent System Dispatching and Path Planning

In this paper, a new adaptive SOM-based Fuzzy Neural Network controller is proposed for dynamic dispatching and path planning of multi-agent systems. The traditional self-organizing map (SOM) is to exclusively search the real-time shortest paths for all agents to go to their targets. After this traditional dispatching, the weighting factors of our new SOM-based fuzzy neural network (FNN) controller are activated to force the agents toward their corresponding targets. The FNN controller is the main controller which combines the fuzzy rules with the neural network. A monitoring controller is also designed to reduce the error between FNN controller and ideal controller. By the Lyapunov constraints, the weighting factors for the proposed SOM-based FNN controller are updated to guarantee the stability of the path planning system. From the simulation results, it can be obviously seen that the proposed new method is capable of effectively dispatching the agents and controlling their trajectories to the corresponding targets.