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Abstract
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Article Information:
A New Heuristic Method to Control Cooperating Robots
Maliheh Roghani-Mamaghani and Seyed Hossein Sadati
Corresponding Author: Maliheh Roghani-Mamaghani
Submitted: January 21, 2012
Accepted: March 10, 2012
Published: June 01, 2012 |
Abstract:
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This study proposed a new method for control cooperating robots. Many researchers have touched
the problem of controlling an array of mobile robots. These controllers have been applied to different kinds of
mobile robots. These robots are highly capable in industry due to their low cost and simplicity. Through their
simple geometry, they showed to be an appropriate choice for varieties of applications. However, the presence
of non-holonomic constraints in their motion renders the control of this robot quite a challenging issue.
Conditions for which mobile robots are designed for include many uncertainties since these robots are employed
in environments unknown to the robot and hence the robot may be experiencing the workspace for the first time.
In other words, the robot may not have been in a similar situation before. In addition, in actual applications, the
robot normally suffers from noise and perturbations inflicted upon its control system, making it extremely
important to design a control system which would be able to cope with such problems. The fuzzy logic
methodology is known to be a proper solution due to its remarkable capabilities. A novel approach based on
fuzzy logic has been presented in this study for the formation control of such robots in their concerted motion.
Simulation results demonstrate the efficacy of the proposed method.
Key words: Formation control, fuzzy logic, mobile robot, non-holonomic constraint, , ,
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Cite this Reference:
Maliheh Roghani-Mamaghani and Seyed Hossein Sadati, . A New Heuristic Method to Control Cooperating Robots. Research Journal of Applied Sciences, Engineering and Technology, (11): 1595-1603.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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