文章基本信息

标题：Potential Field Method Parameters Tuning Using Fuzzy Inference System for Adaptive Formation Control of Multi-Mobile Robots
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作者：Basma Gh. Elkilany ; A. A. Abouelsoud ; Ahmed M. R. Fathelbab 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2020
卷号：9
期号：1
页码：10-24
DOI：10.3390/robotics9010010
出版社：MDPI Publishing
摘要：Nowadays, employing more than one single robot in complex tasks or dangerous environments is highly required. Thus, the formation of multi-mobile robots is an active field. One famous method for formation control is the Potential Field Method due to its simplicity and efficiency in dynamic environments. Therefore, we propose a Fuzzy Inference tuning of the potential field parameters to overcome its limitations. We implement the modified method with tuned parameters on MATLAB and apply it to three TurtleBot3 burger model robots. Then, several real-time experiments are carried out to confirm the applicability and validity of the modified potential filed method to achieve the robots’ tasks. The results assert that the TurtleBot3 robots can escape from a local minimum, pass through a narrow passage, and pass between two closely placed obstacles.
关键词：formation control; potential field method; fuzzy inference system; obstacle avoidance formation control ; potential field method ; fuzzy inference system ; obstacle avoidance