Resumo

MOLINA-VILLA, Manuel Alejandro; AVENDANO-FLOREZ, Daniel Ricardo; SOLAQUE-GUZMAN, Leonardo Enrique  e  VELASCO-TOLEDO, Nelson Fernando. Fuzzy logic controller to cooperative mobile robotics Implemented in leader-follower formation Approach. Rev.fac.ing.univ. Antioquia [online]. 2015, n.76, pp.19-29. ISSN 0120-6230.  https://doi.org/10.17533/udea.redin.n76a03.

This paper presents the design of a fuzzy logic cooperative control by implementing the leader-follower approach that allows establishing and maintaining a specific geometric formation to a mobile robot group while they are moving along a predefined trajectory. As a result of the research, it was proved by simulation, a cooperative control system that permits a set of robots to keep a specific formation while the group performs a predetermined mission. This control system helps avoid obstacles by modifying the formation or by changing the leader inside the group.

Palavras-chave : Control systems; cooperative robotics; mobile robotics; fuzzy logic control; leader-follower.

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