Collision Prevention Planning of a Multi-Robot System Based on the Fuzzy Control

摘要

This paper presents a collision-prevention planning method for a multi-robot system based on the fuzzy logic control.The system is a simplified three-layer structure which includes preventing collision with robots and with the static obstacles,and moving to the goal.The output of the system is obtained through the priority and weighting method.The genetic algorithm is used to optimize the width and center value of the membership functions.The simulation results show that the genetic algorithm improves the navigation performance of the robot.