Abstract：This Paper has studied real-time motion planning for multiple mobile robots in the dynamic environment. Because of uncertainty of the accurate mathematical model and the disturbance of the environment,it is difficulty for each robot to track the velocity deduced by the expert system strictly. A fuzzy controller is introduced to adjust the actual velocity for minimizing the error. The simulation results based on the scheme are presented to demonstrate its efficiency.
1 Zhou Ming,Sun Maoxiang,Wan Yanhong,Yin Chaowan.Decentralized Self-decision Planning System for Multiple Intelligent Mobile Robots.Procof IEEE ICIPS′97 2 Kyriakopoulos K,Saridis G.Collis ion Avoidance of Mobile Robots in Non-station ary Environments.In Proc of the IEEE International Conference on Robotics and Automation,April,1991 3 OZAKIK,ASAMA H.Synchronized Motion by Multiple Mobile Robots Using Communication.Proc IEEE Int Workshop on Intelligent Robots and Systems,1993:1164～1170
