Self-Assembling for Swarm Modular Robots Using MIMO Fuzzy Control

摘要

Modular robot are said to construct a diversity of morphogenesis with self-assembling strategies. They bring about an adaptive entity to deal with complex tasks. By analyzing integration design in module, perception, and control in detail, a swarm modular robot is presented with self-assembly scenario. Then, these active docking robots use the distance measured by infrared sensors between itself and edge of assembled structural entity as input. We design the fuzzy sets and if-then rules according to the human reasoning in following process. Based on Mamdani-type inference, the fuzzy controller can yield two outputs. The outputs are, respectively, used as steering angle speed and linear speed. Due to the diversity of self-assembled structure by the swarm modular robots, we conduct a series of simulated experiments. The results demonstrate the effectiveness and efficiency of the proposed controller in swarm robots' edge-following process.