Formation Control For Wheeled Mobile Robots
Ritesh Meshram, Dr. Sunil Surve
Index Terms: car-like, mobile robot, IT2-FL, kinematics, leader-follower.
Abstract: this paper describes work on formation for a group of wheeled mobile robots. Also in this paper we have tried to give the detail information about the kinematics of wheeled mobile robot available in various literatures in a simpler way. We are using car-like mobile robot where the leader mobile robot is controlled to reach the desired position, whereas the follower follows the leader robot with some specific distance and angle. Here we made an assumption that the motion occurs in a 2D space without any obstacle in its path. The basic of kinematic bicycle model for a wheeled mobile robot is used in this work. For controlling the motion of robots we are using fuzzy logic. As we know, Fuzzy logic theory is subdivided into two types, type-1 and type-2. For the motion control of a car-like mobile robot in formation we are using the concept of Interval type2 fuzzy logic (IT2-FL). A new rule base is designed for IT2-FL system and the simulation is done in Matlab environment also the final results are given to show the efficiency and effectiveness of the proposed fuzzy controller.
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