Fuzzy logic-based group formation control of multiple wheeled robots

Abstract

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.