Fuzzy crash avoidance and coordination between multi mobile robots

In this paper, coordination and crash avoidance algorithm between a group of mobile robots is proposed based on the fuzzy control. Fuzzy control is developed to make the robots move in the predefined trajectories that must not collide. All the robots are coordinated so that they finish their trajectories in the same time, regardless of the length of the individual trajectories or the number of crash avoidance incidences between them. The simulation results obtained with three mobile robots are presented to show the performance of control, coordination and crash avoidance algorithm.