Fuzzy virtual torque approach for coverage control of nonholonomic mobile robots

In this paper we study the problem of covering an environment using a group of mobile robots with nonholonomic kinematic and dynamic constraints. We introduce a fuzzy logic based approach in which repulsive and attractive torques generated by fuzzy inference system make a network of robots deploy in an unknown environment, and avoid collision among themselves and with obstacles. In comparison with previous studies, we take into account kinematic and dynamic constraints of nonholonomic mobile robots in the coverage control algorithm and also consider the mobile robots modeled as circular disks instead of being point-robots. Simulation results approve the effectiveness of the proposed method.