Authors : Denis Belogalzov, Valeriy Finaev, Igor Shapovalov, Victor Soloviev and Mikhail Medvedev
Abstract: The purpose of this research is to develop and research a method to organize a formation of robots and a method to plan motion paths for a group of robots. The structure of a group control system for autonomous mobile robots is presented. We propose the solution for the problem of creation of a group formation with a scalable flexible structure. There is only minimal needed a-priori information that has the form of certain areas (attachment sites) around each robot that are appropriate for positioning of other robots. Setting the location of attachment sites around the robots makes it possible to organize various formation geometries. A context-depending strategy of behavior and fuzzy logic were used to implement the method of planning the behavior of individual robots in the group.
Denis Belogalzov, Valeriy Finaev, Igor Shapovalov, Victor Soloviev and Mikhail Medvedev, 2017. Decentralized Control of a Group of Robots Using Fuzzy Logic. Journal of Engineering and Applied Sciences, 12: 2492-2498.