Motion control of a mobile robot traveling in a convoy using fuzzy logic

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Abstract
In many applications, the use of multiple robots of different capabilites will be desirable. In a teaming approach, multiple robots will cooperate to accomplish a task which a single robot alone is incapable, inefficient, or impractical at performing. When multiple robots are deployed, the motion of each robot may have to be coordinated with the rest of the robots. This paper deals with development of a fuzzy logic based motion controller for convoying the coordinated motion between a leader and a follower. The fuzzy logic based real-time motion controller uses relative distance and speed information to adust the speed of the trailing robot to smoothly follow the leader without either collisions or loosing sight of it. The performance and robustness of the system has been verified in a series of extensive laboratory trials.

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