Abstract
To solve the problem of complex parameter adjustment and low formation efficiency in traditional leader-follower method, the formation control law is improved, and a parameter adaptive multi-robot formation method based on fuzzy theory is proposed in this paper. Firstly, the kinematics model of the robot is established by introducing the virtual leader, the formation problem of multi-robots is transformed into the tracking control problem between robots. Then the tracking control law is designed, and it is theoretically proved that the designed control law can make the robot complete formation. Moreover, Using fuzzy control theory, a fuzzy controller is designed according to the pose errors between robots, and the parameters in the control law are burred so that the parameters can be adjusted adaptively. Finally, simulations are provided to verify the efficacy and superiority of the method.
Supported by the National Natural Science Foundation of China (61603345, 61703372, 61773351), Outstanding Foreign Scientist Support Project in Henan Province (GZS2019008), Young Talent Lift Project in Henan Province (2020hytp006).
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Zhang, F., Zhang, W., Chen, B., Wang, H., Liu, Y. (2021). Parameter Adaptive Multi-robot Formation Based on Fuzzy Theory. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_21
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