Open Access Open Access  Restricted Access Subscription or Fee Access

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

(*) Corresponding author

Authors' affiliations



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.
Copyright © 2015 Praise Worthy Prize - All rights reserved.


Multi-Mobile Robots System; Formation Navigation; Fuzzy Control

Full Text:



A. Benzerrouk, L. Adouane, L. Lequievre and P. Martinet, Navigation of multi-robot formation in unstructured environment using dynamical virtual structures, IROS’10, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 18-22 October, Taipei, Taiwan, 2010.

H.Mehrjerdi, M.Saad,and J.Ghommam, Hierarchical Fuzzy Cooperative Control and Path Following for a Team of Mobile Robots, IEEE/ASME TRANS. MECHATRONICS, Vol.16, No.5, pp 907 – 917, Oct 2011.

T. Balch R.C. Arkin, Behavior-based Formation Control for Multi-robot Teams, Robotics and Automation, IEEE Trans, Vol.14, No.6, pp 926 – 939. Dec 1998.

C. Arkin, Towards the Unification of Navigational Planning and Reactive Control, ln AAAI Spring Symposium on Robot Navigation, pp. 1-5, 1989.

P. Pirjanian, Multiple objective Behavior-Based Control, Journal of Robotics and Autonomous Systems, vol.31, No.1, pp. 53-60, 2000.

K.D.Do, J.Pan, Nonlinear formation control of unicycle-type mobile robots, Int. Journal of Robotics and Autonomous Systems, Vol.55, No.3, pp.191-204, 2007.

H. Li and S. X. Yang, A behavior-based mobile robot with a visual landmark-recognition system, IEEE/ASME Trans. Mechatronics, Vol. 8, No. 3, pp. 390–400, Sep. 2003

E. Lalish, K. A. Morgansen, T. Tsukamaki, Formation Tracking Control using Virtual Structures and Deconfliction, Proc. of the 2006 IEEE Conf. Decision and Control, 2006.

R. W. Beard, J. Lawton, and F. Y. Hadaegh, A coordination architecture for spacecraft formation control, IEEE Trans. Control Syst. Technol, Vol. 9, No. 6, pp. 777–790, Nov. 2001.

A. Saffiotti, The uses of fuzzy logic in autonomous robot navigation, Soft Computing, Vol.1, No.4, pp.180–197, 1997.

M. Sisto and D. Gu, A fuzzy leader-follower approach to formation control of multiple mobile robots, in Proc. 2006 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pp. 2515-2520,Oct. 2006.

K. E. Ko, S. M. Park, J. Park and K. B. Sim, A Study on Swarm Robot-Based Invader-Enclosing Technique on Multiple Distributed Object Environments, Journal of Electrical Engineering & Technology Vol. 6, No. 6, pp. 806~816, 2011

Jebelli, A., Yagoub, M.C.E., Lotfi, N., Dhillon, B.S., Intelligent control of a small climbing robot, (2013) International Review of Automatic Control (IREACO), 6 (6), pp. 751-758.

A. Bazoula, M.S. Djouadi, H. Maaref, “Formation Control of Multi Robots via Fuzzy Logic Technique, International Journal of Computers Communications & Control, ISSN 1841-9836, Vol.3, pp:179-184, 2008.

Radianto, D., Asfani, D.A., Syafaruddin, Hiyama, T., Fuzzy logic controller based maximum power point tracking for total cross tied photovoltaic under partial shading, (2013) International Review of Automatic Control (IREACO), 6 (3), pp. 264-269.

Yusuf, L.A., Magaji, N., Comparison of fuzzy logic and GA-PID controller for position control of inverted pendulum, (2014) International Review of Automatic Control (IREACO), 7 (4), pp. 380-385.

A. K. Das, R. Fierro, V. Kuniar, J.P. Ostrowski, J. Spletzer and C.J. Taylor. “A Vision-Based Formation Control Framework, IEEE Transactions on Robotics and Automation, vol. 18, pp. 813-825, 2002.

T. Fukuda, I. Takagawa, K. Sekiyama, and Y. Hasegawa, Hybrid Approach of Centralized Control and Distributed Control for Flexible Transfer System, Distributed Manipulation Kluwer Academic Publishers, pp. 65-85, 2000.

T. van den Broek, N. van de Wouw, and H. Nijmeijer, Formation control of unicycle mobile robots: a virtual structure approach, in Proceedings of the 48th IEEE Conference on Decision and Control, pp. 8328 –8333, December 2009,

M.A. Fischler and R.C. Rolles, Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography, Comm. ACM, Vol. 24, No. 6, pp. 381- 395, 1981.


Please send any question about this web site to
Copyright © 2005-2023 Praise Worthy Prize