A fuzzy-based collision avoidance approach for multi-robot systems

摘要

Multi-robot systems have been widely applied to various applications to perform a given task collaboratively and cooperatively. In a multi-robot environment, path-planning or collision avoidance is an imperative problem. For tackling this challenging problem, we mainly deal with the collision avoidance problem between robots and robots as well as between robots and obstacles in multi-robot systems. In this paper, the fuzzy reasoning based on a step-forward motion strategy is applied in making decision on motion of robots. The model of autonomous robot, the method of detecting dynamic speed of robot and the risk degree surrounding with a robot are discussed. The simulation results show that the fuzzy-based control strategies are effective and useful for making decisions on collision avoidance in multi-robot systems.