A Fuzzy-based Collision Avoidance Approach for Multi-robot Systems

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TypeArticle
ConferenceProceedings of the 2007 IEEE International Conference on Robotics and Biomimetics (ROBIO 2007), December 15-18, 2007., Sanya, China
Subjectmulti-robot systems; omni-directional vision; collision avoidance; fuzzy control
AbstractMulti-robot systems have been widely applied to various applications to perform a given task collaboratively and cooperatively. In a multi-robot environment, path-planning or collision avoidance is an imperative problem. For tackling this challenging problem, we mainly deal with the collision avoidance problem between robots and robots as well as between robots and obstacles in multi-robot systems. In this paper, the fuzzy reasoning based on a Step-Forward motion strategy is applied in making decision on motion of robots. The model of autonomous robot, the method of detecting dynamic speed of robot and the risk degree surrounding with a robot are discussed. The simulation results show that the fuzzy-based control strategies are effective and useful for making decisions on collision avoidance in multi-robot systems.
Publication date
LanguageEnglish
AffiliationNRC Institute for Information Technology; National Research Council Canada
Peer reviewedNo
NRC number49872
NPARC number5764810
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Record identifier6d5d90ff-e0cc-4bc5-a500-35ee93fa997c
Record created2009-03-29
Record modified2016-05-09
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