Fuzzy Logic Controller for Leader-Follower Based Navigation of Mobile Robots in a ROS-enabled Environment

摘要

Multi-agent system applications, which started in the mid-1980s, are used in many areas such as e-commerce, e-health, information systems, robotic systems, traffic, transportation systems. One of the biggest reasons why multi-agent systems are so preferred is that they are more durable and work more efficiently than other systems. Although multi-agent systems have many advantages, they also have significant challenges. Especially the coordination and control of the agents that make up the system is a vital problem. In this study, a multi-robot system, which is an important application of multi-agent systems, is discussed. Simulation in the ROS/Gazebo environment is preferred because it works with robotic agents. The main problem was determined as the navigation of multiple robots in an obstacle-filled environment. Coordination between robots was carried out with a leader-follower approach. Fuzzy logic algorithms were preferred for both navigation and obstacle avoidance.