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Information Technology Journal
  Year: 2010 | Volume: 9 | Issue: 8 | Page No.: 1557-1570
DOI: 10.3923/itj.2010.1557.1570
 
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Optimized Neuro-fuzzy Coordination for Multiple Four Wheeled Mobile Robots

H. Mehrjerdi, M. Saad, J. Ghommam and A. Zerigui

Abstract:
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.
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How to cite this article:

H. Mehrjerdi, M. Saad, J. Ghommam and A. Zerigui, 2010. Optimized Neuro-fuzzy Coordination for Multiple Four Wheeled Mobile Robots. Information Technology Journal, 9: 1557-1570.

DOI: 10.3923/itj.2010.1557.1570

URL: https://scialert.net/abstract/?doi=itj.2010.1557.1570

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