Formation Control of Wheeled Mobile Robots based on Fuzzy Logic and System Dynamics

In this paper, we investigate the leader-follower based formation control of nonholonomic wheeled mobile robots. To this end, we first derive a dynamics model for the considered wheeled mobile robot using Lagrange's equations of motion. Then, using ADAMS multi body simulation software, the obtained dynamics of the wheeled system is verified. After that, we design a Fuzzy Logic Controller (FLC) for generating and keeping the desired formation. In this regard, the leader mobile robot is controlled to follow a reference path and the follower robots use the FLC to keep constant relative distance and constant angle with respect to the leader. The efficiency of this suggested formation controller has been proved using computer simulations on different situations and desired trajectories.