Dr Fuzzy Cooperative Control for Multiple Mobile Robots

Abstract

This work focuses on the formation control for a team of mobile robots. Path following and cooperation seems an easy task from a human point of view, however for a robot it requires complex control algorithms. Therefore to mimic the human way of thinking, the proposed control algorithm is based on fuzzy logic which closely matches the human thought process. Hierarchal control architecture is used with two levels of controllers which are fuzzy and proportional integral and derivative (PID) based controllers.  Fuzzy controller is the high level controller and it perform two tasks, path following and cooperation between robots, whereas the PID controller is responsible for the accurate tracking of speed for the robot wheel motors. Every robot has its own path that is pre-determined by the trajectory planner, as the robot move along their respective path the control algorithm adjust their linear and angular velocities such that they move in formation and reach their destinations at same time regardless of the length and curvature of path. The proposed control scheme is implemented on simulation and the results are obtained.