Title: Control points searching algorithm for multiple mobile robots

Authors: Imen Hassani; Imen Maalej; Chokri Rekik

Addresses: Control and Energy Management Laboratory (CEM Lab), National Engineering School of Sfax, University of Sfax, Tunisia ' Control and Energy Management Laboratory (CEM Lab), National Engineering School of Sfax, University of Sfax, Tunisia ' Control and Energy Management Laboratory (CEM Lab), National Engineering School of Sfax, University of Sfax, Tunisia

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.

Keywords: mobile robot; autonomous navigation; control points; sliding mode; fuzzy logic.

DOI: 10.1504/IJMIC.2022.10052114

International Journal of Modelling, Identification and Control, 2022 Vol.41 No.1/2, pp.120 - 132

Received: 26 Aug 2021
Accepted: 20 Nov 2021

Published online: 22 Nov 2022 *

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