Control points searching algorithm for multiple mobile robots

摘要

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.