[1]WU Yin,LIU Zhongxin,CHEN Zengqiang,et al.Formation control of leader-following type multi-robotbased on fuzzy control method[J].CAAI Transactions on Intelligent Systems,2015,10(4):533-540.[doi:10.3969/j.issn.1673-4785.201407014]
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Formation control of leader-following type multi-robotbased on fuzzy control method

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 4 Page number: 533-540 Column: 学术论文—智能系统 Public date: 2015-08-25
Title:
Formation control of leader-following type multi-robotbased on fuzzy control method
Author(s):
WU Yin1; 2;  LIU Zhongxin1; 2;  CHEN Zengqiang1; 2;  SUN Qinglin1; 2
1. College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;
2. Key Laboratory of Intelligent Robotics of Tianjin, Tianjin 300071, China
Keywords:
fuzzy control; path following; mobile robot; kinematic model; leader; follower; SBC control; formation control
CLC:
TP18
DOI:
10.3969/j.issn.1673-4785.201407014
Abstract:
The leader-following method is adopted in this paper to achieve formation control of multi-robot. In order to overcome the complexity and uncertainty of mobile robot model, fuzzy control which is independent of system model is chosen as the path tracking strategy for the leader robot. The velocity and angular velocity of the leader are adjusted in real time by the output of fuzzy controller, guaranteeing that the leader can reach and move along the desired path. At the same time, the appropriate control law is designed to make the relative distance and angle between the leader and each follower converge to the given value, so as to achieve the desired formation control. Numerical simulations and actual field experiments are provided in this paper, showing the effectiveness of the control strategy in path tracking and the formation control of multiple mobile robots.
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