Consensus-based approach and reactive fuzzy navigation for multiple no-holonomic mobile robots

This paper aims to investigate the formation control of multiple no-holonomic mobile robots based on consensus approach while guarantee inter-collision avoidance among robots. The proposed approach design a controller benefit of the product of Lyapunov and graph theory permit a group of agents to converge to a desired virtual geometric shape defined as an n-ellipsoid with its center track the desired reference trajectory. Furthermore, we inject into the proposed consensus algorithm a Fuzzy logic system to calculate the robot translation and angular velocity to keep the formation and get the desired direction of the virtual leader robot. Moreover, we have constructed a simulator for a small group of robots in a 3D environment founded on the Robot Operating System and Gazebo. The simulation results verify the effectiveness of the proposed method.