A fuzzy-based collision avoidance approach for multi-robot systems

Author

Cai, Chengtao ; Yang, Chunsheng ; Zhu, Qidan ; Liang, Yanhua

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1012

Lastpage

1017

Abstract

Multi-robot systems have been widely applied to various applications to perform a given task collaboratively and cooperatively. In a multi-robot environment, path-planning or collision avoidance is an imperative problem. For tackling this challenging problem, we mainly deal with the collision avoidance problem between robots and robots as well as between robots and obstacles in multi-robot systems. In this paper, the fuzzy reasoning based on a step-forward motion strategy is applied in making decision on motion of robots. The model of autonomous robot, the method of detecting dynamic speed of robot and the risk degree surrounding with a robot are discussed. The simulation results show that the fuzzy-based control strategies are effective and useful for making decisions on collision avoidance in multi-robot systems.

Keywords

collision avoidance; fuzzy control; mobile robots; motion control; multi-robot systems; autonomous robot; decision making; fuzzy reasoning; fuzzy-based collision avoidance approach; fuzzy-based control strategies; multirobot systems; path-planning; step-forward motion strategy; Automatic control; Collision avoidance; Communication system control; Intelligent robots; Machine vision; Multirobot systems; Path planning; Robot sensing systems; Robot vision systems; Robotics and automation; Collision avoidance; Fuzzy control; Multi-robot systems; Omni-directional vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522302

Filename

4522302