基于模糊逻辑的多轮式机器人群体编队控制

2016 International Conference on Microelectronics, Computing and Communications (MicroCom) Pub Date : 1900-01-01 DOI:10.1109/MICROCOM.2016.7522556

Surajit Mondal, D. K. Pratihar

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引用次数: 1

摘要

提出了一种基于模糊逻辑的轮式移动机器人群编队控制方案。针对地层形状控制问题，提出了一种新的控制逻辑。针对移动机器人的两种不同行为，分别开发了直接到达目标和避碰的模糊逻辑控制器。给出了模糊控制器的数据库和规则库的详细设计。使用一个简单的交换机来融合这两个逻辑。给出了全面的仿真细节和结果，并对机器人的运动轨迹进行了仔细的研究。因此，所开发的算法的性能已通过计算机模拟成功地进行了测试。

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Fuzzy logic-based group formation control of multiple wheeled robots

This paper presents a fuzzy logic-based formation control scheme for a group of wheeled mobile robots. A new control logic is proposed to counter the problem of formation shape control. Two separate fuzzy logic controllers for direct go-to-goal and collision avoidance are developed for two different behaviors of mobile robots. The details of the data base and rule base of the fuzzy logic controllers are provided. A simple switch is used to fuse these two logics. The comprehensive simulation details with results are presented, where the robots' trajectories are investigated carefully. Thus, the performance of the developed algorithm has been successfully tested through computer simulations.

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2016 International Conference on Microelectronics, Computing and Communications (MicroCom)

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