DocumentCode :
3179950
Title :
A Fuzzy Leader-Follower Approach to Formation Control of Multiple Mobile Robots
Author :
Sisto, Marianne ; Gu, Dongbing
Author_Institution :
Dept. of Comput. Sci., Essex Univ., Colchester
fYear :
2006
fDate :
9-15 Oct. 2006
Firstpage :
2515
Lastpage :
2520
Abstract :
This paper presents a fuzzy logic based system for formation control of multiple mobile robots. Two main problems of formation control are investigated - maintaining correct formation position and inter-formation collision avoidance. A leader-follower approach with minimal communication between robots is presented here. Separate fuzzy logic controllers are developed for formation position control and internal collision avoidance with a higher level fuzzy coordinator used to fuse their outputs. A major issue in formation control is the presence of uncertainties in the real world, in the form of noisy sensor data and delay in leader position transmission. Noise is added to the simulated data to prove that the system is capable of tolerating such disturbance. The system has the ability to create any desired geometrical formation shape
Keywords :
collision avoidance; fuzzy control; mobile robots; multi-robot systems; formation position control; fuzzy coordinator; fuzzy leader-follower approach; fuzzy logic controllers; geometrical formation shape; inter-formation collision avoidance; leader position transmission; multiple mobile robots; Collision avoidance; Communication system control; Control systems; Fuzzy control; Fuzzy logic; Mobile communication; Mobile robots; Noise shaping; Robot kinematics; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.281698
Filename :
4058766
Link To Document :
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