Control points searching algorithm for multiple mobile robots
by Imen Hassani; Imen Maalej; Chokri Rekik
International Journal of Modelling, Identification and Control (IJMIC), Vol. 41, No. 1/2, 2022

Abstract: In the robotic field, the important issue is to find the adequate path for the mobile robot navigation with free collision. This paper describes the development of the navigation strategy for multiple mobile robots. The present work investigates two types of navigation strategies: navigation with one robot and navigation with two robots. The proposed algorithm is based on searching the value of the visibility condition of the trajectory to detect the collision problem. Then, control points are selected to find the safe path for navigation. On the other hand, a sliding mode controller (SMC) is used for tracking the planned trajectory. Hence, to improve the performance given by the SMC, a fuzzy logic control approach is applied for tracking the desired trajectory. Finally, simulation results are given to highlight the applicability of the proposed approach.

Online publication date: Tue, 22-Nov-2022

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com