Formation Control for Mobile Robot using Fuzzy - PI Controller

Protecting soldiers in the long march of platoon formation is crucial mission in the military operation. Autonomous ground mobile robots can be deployed to carry out such kind of the mission. The primary task is maintaining robot position automatically based on the movement of soldier in a platoon formation. The GPS is employed to determine the soldier current pose. This information is used as an input to create a dynamic convex hull around a platoon. The Proportional-Integral (PI) controller is applied to control each robot so it can move in a desired trajectory. The fuzzy logic control (FLC) is involved to tune the gain of PI controller to optimize the performance. Three protective robots and nine soldiers are used to evaluate the algorithm in simulation. The proposed algorithm will provide a platoon soldiers with optimal protection encirclement and enhance their safety. The simulation results show good performance using the proposed controller.