Vision-based Fuzzy Coordination Control for Multiple Robots

Abstract

This paper proposes a fuzzy coordination control method among a group of distributed robots using only vision. A leading robot moves along a predetermined trajectory, and other robots called coordinators endeavor to establish the relationship with the leader, by keeping the relative distance and visual observation angle. The distance to be kept is adjusted by fuzzy logic, which outputs the velocity of the robot. The experimental results show the validity of the proposed approach.