Formation control based on artificial intelligence for multi-agent coordination

Abstract

In this paper, the authors propose a method of cooperative control based on an artificially intelligent system in a distributed autonomous robotic system. In general, a multi-agent behavior algorithm is simple and effective for small number of robots. However, as the number of robots increases, this becomes difficult to realize because a multi-robot behavior algorithm requires multiple constraints and goals in mobile robot navigation problems. As the solution to the above problem, the authors propose an architecture of a fuzzy-neuro system for obstacle avoidance. The controller adopts a simple reactive navigation strategy by combining repulsion from obstacles with attraction to a goal. Simulation results shows that the proposed strategy is effective for multi-robot to avoid obstacles while maintaining a formation.