Multi-Mobile Robot Formation Control Algorithm based on Fuzzy Mathematics

This paper proposes a multi-mobile robot formation control algorithm based on fuzzy mathematics. In recent years, the limitations of individual autonomous robots in efficiently performing complex tasks have prompted the exploration of multi-mobile robot systems. These systems offer advantages such as task partitioning, increased efficiency, and improved fault tolerance. This paper reviews the existing literature on robot formation control and addresses current research challenges. A comprehensive methodology is presented that combines fuzzy mathematics for control systems and a Proportional–Integral–Derivative (PID) control approach. The kinematic model of a wheeled mobile robot with differential drive is studied, considering different driving methods. The proposed formation control algorithm is demonstrated through MATLAB simulation experiments with one leader and two followers. The results show successful motion coordination, stability, and adaptability of the entire formation system. The algorithm shows resilience to perturbations, highlighting its practical applicability in real-world scenarios.