- 期刊
Adaptive Neuro-Fuzzy Formation Control for Leader-Follower Mobile Robots
並列摘要
This paper aims to investigate the formation control of multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Based on the graph-theoretic concepts and locally distributed information, an adaptive neural fuzzy formation controller is designed with the capability of on-line learning. The learning rules of controller parameters can be derived from the analyzing of Lyapunov stability. In addition to simulations, the proposed techniques are applied to an experimental multi-robot platform for performance validations. From simulation and experimental results, the proposed adaptive neural fuzzy protocol can provide better formation responses compared to conventional consensus algorithms.
被引用紀錄
Tseng, H. Y. (2015). 車間光通訊通道不對稱性之分析 [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2015.01181
延伸閱讀
- Kumar, V. (2019). Formation Control of Mobile Robots with Leader-Follower Approach using Fuzzy Logic Controller [master's thesis, Tamkang University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0002-2407201916184000
- Yang, W. C. (2016). Mobile Robot Navigation Using Fuzzy Controller with Reinforcement Evolutionary Learning [master's thesis, National Formosa University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0028-0108201617104700
- Chao, C. H., Hsueh, B. Y., Hsiao, M. Y., Tsai, S. H., & Li, T. H. S. (2009). Fuzzy Target Tracking and Obstacle Avoidance of Mobile Robots with a Stereo Vision System. International Journal of Fuzzy Systems, 11(3), 183-191. https://doi.org/10.30000/IJFS.200909.0006
- Yeh, Y. C., Li, T. H. S., & Chen, C. Y. (2009). Adaptive Fuzzy Sliding-Mode Control of Dynamic Model Based Car-Like Mobile Robot. International Journal of Fuzzy Systems, 11(4), 272-286. https://doi.org/10.30000/IJFS.200912.0006
- Guo, D., Chen, H. W., & Liang, X. (2015). Adaptive Image-Based Leader-Follower Approach of Mobile Robot with Omnidirectional Camera. Journal of Applied Mathematics, 2015(), 113-124-010. https://doi.org/10.1155/2015/194251