Fuzzy-Based Distributed Behavioral Control With Wall-Following Strategy for Swarm Navigation in Arbitrary-Shaped Environments
- Resource Type
- article
- Authors
- Truong Nhu; Pham Duy Hung; Van Anh Ho; Trung Dung Ngo
- Source
- IEEE Access, Vol 9, Pp 139176-139185 (2021)
- Subject
- Fuzzy-logic control
distributed behavioural control
robot swarm navigation
wall-following strategy
configuration transformation
arbitrary-shaped environments
Electrical engineering. Electronics. Nuclear engineering
TK1-9971
- Language
- English
- ISSN
- 2169-3536
This paper addresses a novel fuzzy-based distributed behavioural control with the wall-following strategy for robot swarm navigation in arbitrary-shaped environments. Instead of avoiding large-sized obstacles during the swarm navigation, the proposed fully distributed control enables the robot swarm to transform from aggregation configuration to one-chain configuration and follow the obstacle boundary to overcome it. The wall-following strategy and one-chain configuration empower the swarm navigation to avoid local minima caused by obstacles and connectivity maintenance without dealing with the alignment control of swarm behaviours. The fuzzy-logic control is applied to calculate the parameters of the distributed control strategies. The proposed method is examined and evaluated in both simulation and real experiments.