Multi mobile robots formation in presence of obstacles

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.