Submit Manuscript

Information Technology Journal

Year: 2010 | Volume: 9 | Issue: 8 | Page No.: 1557-1570
Facebook Twitter Digg Reddit Linkedin StumbleUpon E-mail

Article Trend

Total views 420

Search

Authors

H. Mehrjerdi

M. Saad

J. Ghommam

A. Zerigui

Keywords

Research Article

Optimized Neuro-fuzzy Coordination for Multiple Four Wheeled Mobile Robots

H. Mehrjerdi, M. Saad, J. Ghommam and A. Zerigui
In this study, a neuro-fuzzy coordination for multiple mobile robots is presented. In coordination of a group of mobile robots in real environment, the formation and the method for communication of mobile robots are important tasks. For these problems, a method which implies two level controllers architecture based on a PID and an adaptive neuro-fuzzy is used to coordinate multi robots toward goals. A fuzzy logic system is designed with two central behaviors, path following and coordination. The fuzzy model has been identified by subtractive clustering algorithm and trained by adaptive neuro-fuzzy interface system. A learning algorithm based on neural network is developed to tune parameters of membership function, which reduce errors of coordination and path-following. Our coordination is based on a leader-followers conception which means one of the robots acts as a leader and related to its position, follower robots go along with it. Simulation and experimental results demonstrate the effectiveness of the proposed coordination.
PDF Fulltext XML References Citation

Leave a Comment

Your email address will not be published. Required fields are marked *