DocumentCode
2567320
Title
Multi mobile robots formation in presence of obstacles
Author
Mehrjerdi, H. ; Saad, Maarouf ; Ghommam, Jawhar
Author_Institution
Dept. of Electr. Eng., Quebec Univ., Montreal, QC, Canada
fYear
2011
fDate
13-15 April 2011
Firstpage
510
Lastpage
515
Abstract
In this paper, the design of an fuzzy intelligent coordination algorithm is introduced for a team of multi mobile robots (MMR) that are confronted with obstacles. As well as obstacle avoidance, the controllers work to make the robots arrive concurrently at their target points by adjusting each of the robot´s velocities as they move along their desired paths. The simulation results of three mobile robots traveling on different paths in unknown environments are presented to show the accuracy of obtaining control, coordination and obstacle avoidance by using the designed fuzzy algorithm.
Keywords
collision avoidance; fuzzy control; mobile robots; multi-robot systems; neurocontrollers; fuzzy intelligent coordination algorithm; multi mobile robots formation; obstacle avoidance; Lead; Robot kinematics; Coordination; Fuzzy control; Mobile robots; Obstacle avoidance; Trajectory tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics (ICM), 2011 IEEE International Conference on
Conference_Location
Istanbul
Print_ISBN
978-1-61284-982-9
Type
conf
DOI
10.1109/ICMECH.2011.5971339
Filename
5971339
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