{"title":"基于模糊逻辑的多轮式机器人群体编队控制","authors":"Surajit Mondal, D. K. Pratihar","doi":"10.1109/MICROCOM.2016.7522556","DOIUrl":null,"url":null,"abstract":"This paper presents a fuzzy logic-based formation control scheme for a group of wheeled mobile robots. A new control logic is proposed to counter the problem of formation shape control. Two separate fuzzy logic controllers for direct go-to-goal and collision avoidance are developed for two different behaviors of mobile robots. The details of the data base and rule base of the fuzzy logic controllers are provided. A simple switch is used to fuse these two logics. The comprehensive simulation details with results are presented, where the robots' trajectories are investigated carefully. Thus, the performance of the developed algorithm has been successfully tested through computer simulations.","PeriodicalId":118902,"journal":{"name":"2016 International Conference on Microelectronics, Computing and Communications (MicroCom)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Fuzzy logic-based group formation control of multiple wheeled robots\",\"authors\":\"Surajit Mondal, D. K. Pratihar\",\"doi\":\"10.1109/MICROCOM.2016.7522556\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a fuzzy logic-based formation control scheme for a group of wheeled mobile robots. A new control logic is proposed to counter the problem of formation shape control. Two separate fuzzy logic controllers for direct go-to-goal and collision avoidance are developed for two different behaviors of mobile robots. The details of the data base and rule base of the fuzzy logic controllers are provided. A simple switch is used to fuse these two logics. The comprehensive simulation details with results are presented, where the robots' trajectories are investigated carefully. Thus, the performance of the developed algorithm has been successfully tested through computer simulations.\",\"PeriodicalId\":118902,\"journal\":{\"name\":\"2016 International Conference on Microelectronics, Computing and Communications (MicroCom)\",\"volume\":\"55 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 International Conference on Microelectronics, Computing and Communications (MicroCom)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MICROCOM.2016.7522556\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 International Conference on Microelectronics, Computing and Communications (MicroCom)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MICROCOM.2016.7522556","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Fuzzy logic-based group formation control of multiple wheeled robots
This paper presents a fuzzy logic-based formation control scheme for a group of wheeled mobile robots. A new control logic is proposed to counter the problem of formation shape control. Two separate fuzzy logic controllers for direct go-to-goal and collision avoidance are developed for two different behaviors of mobile robots. The details of the data base and rule base of the fuzzy logic controllers are provided. A simple switch is used to fuse these two logics. The comprehensive simulation details with results are presented, where the robots' trajectories are investigated carefully. Thus, the performance of the developed algorithm has been successfully tested through computer simulations.
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