A Fuzzy Formation Control for Multiple Robots in Unknown Environments

A fuzzy formation control method among a group of distributed robots using only local sensing is proposed. A leading robot moves along a predetermined trajectory, and other robots endeavor to establish and then maintain a given geometric shape by regulating the relative distance and bearing to the leader. The distance to be kept is adjusted by fuzzy logic, which outputs the follower's velocity toward the connecting line of the leader and the follower, and the bearing adjustment is based on fuzzy logic angle controller which outputs the follower's velocity along the moving direction of the leader. The final follower's velocity is acquired by decision-making. The whole formation control system can be achieved without communication. The simulation results show the validity of the proposed approach.