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Proceedings Paper

Motion control of a mobile robot traveling in a convoy using fuzzy logic
Author(s): Suresh B. Marapane; Martin B. Holder; Mohan M. Trivedi
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Paper Abstract

In many applications, the use of multiple robots of different capabilites will be desirable. In a teaming approach, multiple robots will cooperate to accomplish a task which a single robot alone is incapable, inefficient, or impractical at performing. When multiple robots are deployed, the motion of each robot may have to be coordinated with the rest of the robots. This paper deals with development of a fuzzy logic based motion controller for convoying the coordinated motion between a leader and a follower. The fuzzy logic based real-time motion controller uses relative distance and speed information to adust the speed of the trailing robot to smoothly follow the leader without either collisions or loosing sight of it. The performance and robustness of the system has been verified in a series of extensive laboratory trials.

Paper Details

Date Published: 13 June 1995
PDF: 12 pages
Proc. SPIE 2493, Applications of Fuzzy Logic Technology II, (13 June 1995); doi: 10.1117/12.211801
Show Author Affiliations
Suresh B. Marapane, Univ. of Tennessee/Knoxville (United States)
Martin B. Holder, Univ. of Tennessee/Knoxville (United States)
Mohan M. Trivedi, Univ. of Tennessee/Knoxville (United States)

Published in SPIE Proceedings Vol. 2493:
Applications of Fuzzy Logic Technology II
Bruno Bosacchi; James C. Bezdek, Editor(s)

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