The Stable and Precise Motion Control for Multiple Mobile Robots

Abstract

Intelligent path planning of multiple mobile robots has been addressed in this paper. Cooperative behaviour can be achieved using several mobile robots, which require online inter-communication among themselves. In the present investigation rule-based and rule-based- neuro-fuzzy techniques are analyzed for multiple mobile robots navigation in an unknown or partially known environment. The final aims of the robots are to reach some pre-defined goals. Based upon a reference motion, direction; distances between the robots and obstacles; distances between the robots and targets; different types of rules are taken heuristically and refined later to find the steering angle. The control system combines a repelling influence related to the distance between robots and nearby obstacles and with an attracting influence between the robots and targets. Then a hybrid rule-based-neuro-fuzzy technique is analyzed to find the steering angle of the robots. Results show that the proposed rule-based-neuro-fuzzy technique can improve navigation performance in complex and unknown environments compared to this simple rule-based technique.