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A Fuzzy Approach for a Hybrid Multi-Mobile Robot Control Architecture to Maintain a Specific Formation During Navigation

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This paper presents a hybrid control architecture for a group of mobile robots to maintain their formation during the navigation process. We propose an architecture based on a fuzzy approach to control the velocities (linear and angular) of the team while maintaining a predefined geometric form. Each robot is always fully aware of the velocity of its neighbor which mimics the human driving experience. This is done without any local communication between the robots which eliminate the problem of delayed communication and the influence of each robot’s error on the group. The algorithm can be applied to multiple geometric forms without having to add any additional controllers or additional fuzzy rules which increases the flexibility and the generalization of the system. Experimental results are shown to prove the efficiency of the suggested approach.
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Multi-Mobile Robots System; Formation Navigation; Fuzzy Control

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