Fuzzy logic controller for cooperative mobile robotics implemented in leader-follower formation approach
Journal Title: Revista Facultad de Ingeniería-Universidad de Antioquia - Year 2015, Vol 1, Issue 76
Abstract
This paper presents the design of a fuzzy logic cooperative control by implementing the leader-follower approach that allows establishing and maintaining a specifi c geometric formation to a mobile robot group while they are moving along a predefi ned trajectory. As a result of the research, it was proved by simulation, a cooperative control system that permits a set of robots to keep a specifi c formation while the group performs a predetermined mission. This control system helps avoid obstacles by modifying the formation or by changing the leader inside the group.
Authors and Affiliations
Manuel Alejandro Molina-Villa, Daniel Ricardo Avendaño-Flórez, Leonardo Enrique Solaque-Guzmán, Nelson Fernando Velasco- Toledo
Keywords
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- EP ID EP630547
- DOI 10.17533/udea.redin.n76a03
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