Fuzzy logic controller for cooperative mobile robotics implemented in leader-follower formation approach

  • Manuel Alejandro Molina-Villa Universidad Militar Nueva Granada
  • Daniel Ricardo Avendaño-Florez Universidad Militar Nueva Granada
  • Leonardo Enrique Solaque-Guzman Universidad Militar Nueva Granada https://orcid.org/0000-0002-2773-1028
  • Nelson Fernando Velasco-Toledo Universidad Militar Nueva Granada
Keywords: Control systems, cooperative robotics, mobile robotics, fuzzy logic control, leader-follower

Abstract

This paper presents the design of a fuzzy logic cooperative control by implementing the leader-follower approach that allows establishing and maintaining a specific geometric formation to a mobile robot group while they are moving along a predefined trajectory. As a result of the research, it was proved by simulation a cooperative control system that permits a set of robots to keep a specific formation while the group performs a predetermined mission. This control system helps to avoid obstacles by modifying the formation or by changing the leader inside the group.

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Author Biographies

Manuel Alejandro Molina-Villa, Universidad Militar Nueva Granada

Grupo de investigación en Desarrollo de Aplicaciones Mecatrónicas (GIDAM), Facultad de Ingeniería

Daniel Ricardo Avendaño-Florez, Universidad Militar Nueva Granada

Grupo de investigación en Desarrollo de Aplicaciones Mecatrónicas (GIDAM), Facultad de Ingeniería

Leonardo Enrique Solaque-Guzman, Universidad Militar Nueva Granada

Grupo de investigación en Desarrollo de Aplicaciones Mecatrónicas (GIDAM), Facultad de Ingeniería

Nelson Fernando Velasco-Toledo, Universidad Militar Nueva Granada

Grupo de investigación en Desarrollo de Aplicaciones Mecatrónicas (GIDAM), Facultad de Ingeniería

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Published
2015-09-23
How to Cite
Molina-Villa M. A., Avendaño-Florez D. R., Solaque-Guzman L. E., & Velasco-Toledo N. F. (2015). Fuzzy logic controller for cooperative mobile robotics implemented in leader-follower formation approach. Revista Facultad De Ingeniería Universidad De Antioquia, (76), 19-29. https://doi.org/10.17533/udea.redin.n76a03