Multi modular robots maneuver for geometry formation control

Abstract

This paper presents an algorithm for multi-robots maneuverability solutions. The algorithm instructs multi-robots, in groups, into computer programmed geometry shapes. Fuzzy Logic Control (FLC) [1, 2] is also applied, which allows each robot to autonomously adjust and avoid obstacles or other robots, while moving toward its assigned position. The system uses commercial web camera to supply image stream, so that image processing techniques are used for feedback control and localize processing. In addition, 2-dimensionals binary code [3] is attached with each robot to identify robot individually. The robot is designed to be small for mobility and flexibility. With three Omni-directional wheels for each robot, the robots moves freely in 2 dimensions, i.e., horizontal, vertical and diagonal. Extensive experiments result in computer simulations and practical robots are also discussed in this paper.