Motion control of a mobile robot traveling in a convoy using fuzzy logic

Suresh B. Marapane; Martin B. Holder; Mohan M. Trivedi

doi:10.1117/12.211801

13 June 1995 Motion control of a mobile robot traveling in a convoy using fuzzy logic

Suresh B. Marapane, Martin B. Holder, Mohan M. Trivedi

Proceedings Volume 2493, Applications of Fuzzy Logic Technology II; (1995) https://doi.org/10.1117/12.211801
Event: SPIE's 1995 Symposium on OE/Aerospace Sensing and Dual Use Photonics, 1995, Orlando, FL, United States

Abstract

In many applications, the use of multiple robots of different capabilites will be desirable. In a teaming approach, multiple robots will cooperate to accomplish a task which a single robot alone is incapable, inefficient, or impractical at performing. When multiple robots are deployed, the motion of each robot may have to be coordinated with the rest of the robots. This paper deals with development of a fuzzy logic based motion controller for convoying the coordinated motion between a leader and a follower. The fuzzy logic based real-time motion controller uses relative distance and speed information to adust the speed of the trailing robot to smoothly follow the leader without either collisions or loosing sight of it. The performance and robustness of the system has been verified in a series of extensive laboratory trials.

Citation Download Citation

Suresh B. Marapane, Martin B. Holder, and Mohan M. Trivedi "Motion control of a mobile robot traveling in a convoy using fuzzy logic", Proc. SPIE 2493, Applications of Fuzzy Logic Technology II, (13 June 1995); https://doi.org/10.1117/12.211801

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