scholarly journals Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3433
Author(s):  
Mohammad Samadi Gharajeh ◽  
Hossein B. Jond
Keyword(s):  
Machine Learning ◽  
Mobile Robots ◽  
Fuzzy System ◽  
Formation Control ◽  
Fuzzy Controller ◽  
Speed Control ◽  
Supervised Machine Learning ◽  
Wheeled Mobile Robots ◽  
Holonomic Constraints ◽  
Intelligent Technique

Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging objectives in the endeavor for efficient autonomous collision-free navigation. This paper proposes an intelligent technique for speed control of a wheeled mobile robot using a combination of fuzzy logic and supervised machine learning (SML). The technique is appropriate for flexible leader-follower formation control on straight paths where a follower robot maintains a safely varying distance from a leader robot. A fuzzy controller specifies the ultimate distance of the follower to the leader using the measurements obtained from two ultrasonic sensors. An SML algorithm estimates a proper speed for the follower based on the ultimate distance. Simulations demonstrated that the proposed technique appropriately adjusts the follower robot’s speed to maintain a flexible formation with the leader robot.

Adaptive distributed formation control for multiple nonholonomic wheeled mobile robots

2016 ◽  
Vol 173 ◽  
pp. 1485-1494 ◽  
Author(s):  
Zhaoxia Peng ◽  
Shichun Yang ◽  
Guoguang Wen ◽  
Ahmed Rahmani ◽  
Yongguang Yu
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Wheeled Mobile Robots

Modeling and Constraints Analysis of Wheeled Mobile Robots

2013 ◽  
Vol 278-280 ◽  
pp. 612-617
Author(s):  
Huai Xiang Zhang ◽  
Guo Jun Dai
Keyword(s):  
Mobile Robots ◽  
Mechanical System ◽  
Kinematic Modeling ◽  
Wheeled Mobile Robots ◽  
Kinematic Constraints ◽  
Holonomic Constraints ◽  
Limit System

Wheeled mobile robots’ kinematic constraints and kinematic modeling are presented. Determining how nonholonomic and holonomic constraints limit system mobility in a different way is the main objective. The paper analyzed the relation between controllability of the system and corresponding constraints. It’s shown that constraint properties can be determined by the controllability of the mechanical system. To get this, accessibility distribution is employed. Finally, example to clarify these results is presented. Based on the same procedures, modeling and constraints analysis of other robots can also be acquired.

scholarly journals Grey Wolf Optimizer-Based Approaches to Path Planning and Fuzzy Logic-based Tracking Control for Mobile Robots

2020 ◽  
Vol 15 (3) ◽  
Author(s):  
Radu-Emil Precup ◽  
Emil-Ioan Voisan ◽  
Emil M. Petriu ◽  
Marius L. Tomescu ◽  
Radu-Codrut David ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Tracking Control ◽  
Fuzzy Controller ◽  
Optimization Problems ◽  
Cost Effective ◽  
Grey Wolf Optimizer ◽  
Reference Trajectory ◽  
Grey Wolf ◽  
Wheeled Mobile Robots

This paper proposes two applications of Grey Wolf Optimizer (GWO) algorithms to a path planning (PaPl) problem and a Proportional-Integral (PI)-fuzzy controller tuning problem. Both optimization problems solved by GWO algorithms are explained in detail. An off-line GWO-based PaPl approach for Nonholonomic Wheeled Mobile Robots (NWMRs) in static environments is proposed. Once the PaPl problem is solved resulting in the reference trajectory of the robots, the paper also suggests a GWO-based approach to tune cost-effective PI-fuzzy controllers in tracking control problem for NWMRs. The experimental results are demonstrated through simple multiagent settings conducted on the nRobotic platform developed at the Politehnica University of Timisoara, Romania, and they prove both the effectiveness of the two GWO-based approaches and major performance improvement.

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