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http://dx.doi.org/10.6109/jkiice.2015.19.1.26

A Formation Control Scheme for Mobile Robots Using a Fuzzy Compensated PID Controller  

Bae, Ki-Hyun (Department of Electrical and Computer Engineering, Pusan National University)
Choi, Young-Kiu (Department of Electrucal Engineering, Pusan National University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.19, no.1, 2015 , pp. 26-34 More about this Journal
Abstract
In this paper, a fuzzy compensated PID control system is proposed for formation control of mobile robots. The control system consists of a kinematic controller based on the leader-follower approach and a dynamic controller to handle dynamics effects of mobile robots. To maintain the desired formation of mobile robots, the dynamic controller is equipped with a PID controller; however, the PID controller has poor performance in nonlinear and changing environments. In order to improve these problem, we applied the additional fuzzy compensator. Finally, the proposed control system has been evaluated through computer simulation to demonstrate the improved results.
Keywords
Formation control; multiple mobile robots; leader-follower; fuzzy compensator;
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