Real time control of multi-agent mobile robots with intelligent collision avoidance system

Abstract

This paper presents a newly developed mobile robot based multi-agent system with capabilities of robust motion control and intelligent collision avoidance. The system consists of three mobile robots, one master and two slaves. The master robot intelligently takes decisions as to which action to perform to avoid obstacles and collisions. On the other hand, the master mobile robot is capable to swerve around a static or moving object when necessary. All possible conditions have been arranged in a fuzzy knowledge base which is used to express and manipulate them in which the mobile robot may encounter them on its driving lane. The proposed research has been carried out to simulate a real car driving regime on roads where the driver may not react properly. Some experimental results obtained from the robot experimental test bench are given and discussed.