Formation Control of Multi-Robots via Fuzzy Logic Technique

摘要

Abstract: In this paper we address the problem of mobile robot formation control. Indeed, the most work, in this domain, have studied extensively classical control for keeping a forma-tion of mobile robots. In this work, we design an FLC (Fuzzy logic Controller) controller for separation and bearing control (SBC). Indeed, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the FSBC (Fuzzy Separation and Bearing Control) to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control law has been proved by simulation on different situations.