A proposed formation control algorithm for robot swarm based on adaptive fuzzy potential field method

Basma Gh Elkilany, A. A. Abouelsoud, Ahmed M.R. Fathelbab, Hiroyuki Ishii

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The main goal of robot swarm is to maintain formation among their members while avoiding obstacles and tracking a target in the surrounding environment. One popular approach for achieving this goal is the Potential Field Method (PFM). Thus, in this paper, we propose a formation control algorithm based on the PFM and Fuzzy Inference System (FIS). The Proposed PFM is intended to maintain formation, avoid obstacles and track a moving target as well. We add an interaction potential force to maintain formation beside the attractive and repulsive potential forces. Also, we use the FIS to adapt the change of the relative distances among robots in the swam and other entities int he environment. To test the scalability and reliability of the proposed formation control algorithm, simulations of robot swarms using MATLAB software with a different number of robots following different target trajectories in different environment setups are recorded. Results confirm the efficiency and the applicability the proposed formation control algorithm in achieving the three tasks of the robot swarm.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2189-2194
Number of pages6
ISBN (Electronic)9781509066841
DOIs
Publication statusPublished - 2018 Dec 26
Event44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
Duration: 2018 Oct 202018 Oct 23

Publication series

NameProceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
CountryUnited States
CityWashington
Period18/10/2018/10/23

Keywords

  • Formation Control
  • Fuzzy Inference System
  • Potential Field Method
  • Robot Swarm

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Control and Optimization

Fingerprint Dive into the research topics of 'A proposed formation control algorithm for robot swarm based on adaptive fuzzy potential field method'. Together they form a unique fingerprint.

  • Cite this

    Elkilany, B. G., Abouelsoud, A. A., Fathelbab, A. M. R., & Ishii, H. (2018). A proposed formation control algorithm for robot swarm based on adaptive fuzzy potential field method. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society (pp. 2189-2194). [8591383] (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2018.8591383