NDLI: A Fuzzy Leader-Follower Approach to Formation Control of Multiple Mobile Robots

Content Provider	IEEE Xplore Digital Library
Author	Sisto, M. Dongbing Gu
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Sci., Essex Univ., Colchester (Sisto, M.; Dongbing Gu)
Abstract	This paper presents a fuzzy logic based system for formation control of multiple mobile robots. Two main problems of formation control are investigated - maintaining correct formation position and inter-formation collision avoidance. A leader-follower approach with minimal communication between robots is presented here. Separate fuzzy logic controllers are developed for formation position control and internal collision avoidance with a higher level fuzzy coordinator used to fuse their outputs. A major issue in formation control is the presence of uncertainties in the real world, in the form of noisy sensor data and delay in leader position transmission. Noise is added to the simulated data to prove that the system is capable of tolerating such disturbance. The system has the ability to create any desired geometrical formation shape
Starting Page	2515
Ending Page	2520
File Size	452139
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281698
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Mobile robots Communication system control Fuzzy logic Collision avoidance Noise shaping Control systems Mobile communication Robot sensing systems Robot kinematics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in