Cooperation control for a team of mobile robots based on fuzzy logic

In this paper, an intelligent trajectory following and cooperation algorithm is proposed based on the fuzzy approach for a group of mobile robots. The cooperation algorithm adjusts the robots´ velocities so they move on their individual trajectories and finish together regardless of the length of each individual trajectory. The fuzzy rules are defined by the kinematic limitation on the robots which are bounded by both linear and angular velocities and the length and curvature of the trajectories. The experimental results obtained by three mobile robots are presented to show the accuracy of control and cooperation derived by the algorithm.